diff --git a/.gitattributes b/.gitattributes
index 8bbd163c0764fa3260f44ec3206fe413b4184ccf..43436571d62c4cdb6d605a33efac6b4a960e8abb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -13158,3 +13158,45 @@ Part2/Free/digiy/ball_0050_20/width_10/pick/fem_node.csv filter=lfs diff=lfs mer
 Part2/Free/digiy/ball_15A_10/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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 Part2/Free/digiy/ball_15A_10/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/fem_node.csv
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index 0000000000000000000000000000000000000000..4aa60733bcbd252cde32e639a19bb6ba135787d3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d972440dd197b532354ab56731ea96223137b17
--- /dev/null
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+38,0.633333333,BASELINE,768.0429451,745,719,684,667,641,883.9570549,787,816,653.9570549,630,655.9570549,0.400923280916,0.00441941987824,0.0599313245413,0.999999971687,-0.000106548785925,-0.000209917889421,-3.47659976345e-05,1793250238009108480
+39,0.650000000,BASELINE,768.619338658,745,719,684,667,641,883.380661342,787,816,653.380661342,630,655.380661342,0.400924657271,0.0044190663502,0.059932543056,0.999999971969,-0.000106275452958,-0.00020882520115,-3.40392601664e-05,1793250238025774848
+40,0.666666667,BASELINE,768.799699802,745,719,684,667,641,883.200300198,787.200300198,816,653,630,655.200300198,0.400925640445,0.00441877365356,0.0599333630818,0.999999972073,-0.000107067171751,-0.000207970705469,-3.37523068937e-05,1793250238042441472
+41,0.683333333,BASELINE,768.209854455,745,719,684,667,641,883.790145545,787.790145545,816,653,630,655.790145545,0.400925858958,0.00441859926227,0.0599334081234,0.999999971824,-0.000109930210263,-0.000207579448378,-3.43206488734e-05,1793250238059108096
+42,0.700000000,BASELINE,768,745,719.374637532,684,667,641,884,787.625362468,816.374637532,653,630,656,0.400926055227,0.00441910616323,0.0599334051023,0.99999997196,-0.000109237952691,-0.000207241408051,-3.46226410588e-05,1793250238075774464
+43,0.716666667,BASELINE,768,745,719.956173042,684,667,641,884,787.043826958,816.956173042,653,630,656,0.400926239212,0.00441998931585,0.0599333755381,0.999999972305,-0.000106582240988,-0.000206932757321,-3.4777538422e-05,1793250238092441344
+44,0.733333333,BASELINE,768,745,719.470861748,684,667,641,884,787,816.470861748,653.529138252,630,655.470861748,0.400925250306,0.00442102424569,0.0599326210461,0.999999971974,-0.00010698513552,-0.000208299971161,-3.48837718632e-05,1793250238109107968
+45,0.750000000,BASELINE,768,745,719.104309463,684,667,641,884,787,816,654,630,655.104309463,0.400924319837,0.00442170698738,0.0599318257181,0.999999971612,-0.000107649630476,-0.000209673576646,-3.49824574418e-05,1793250238125774080
+46,0.766666667,BASELINE,768,745,719.692967384,684,667,641,884,787,816,654,630,655.692967384,0.400924104612,0.00442069694257,0.0599311151352,0.99999997137,-0.000108371252314,-0.000210442600242,-3.50645131095e-05,1793250238142440704
+47,0.783333333,BASELINE,768,745,720,684.277277314,667,641,884,787,816.277277314,654,630,656,0.400924414506,0.00442090421023,0.0599313743552,0.999999971514,-0.000107827026796,-0.000210058690591,-3.49512042803e-05,1793250238159107584
+48,0.800000000,BASELINE,768,745,720,684.856847063,667,641,884,787,816.856847063,654,630,656,0.400925296893,0.00442243861247,0.0599326908707,0.999999972074,-0.000105902753084,-0.000208417833628,-3.46249057689e-05,1793250238175774208
+49,0.816666667,BASELINE,768,745,719.566774077,684.566774077,667,641,884,787,816.566774077,653.566774077,630.433225923,656,0.400924622564,0.00442224039364,0.0599322507311,0.999999971893,-0.000106087773376,-0.00020918801435,-3.46421410197e-05,1793250238192441088
+50,0.833333333,BASELINE,768.008514022,745,719.008514022,684,667,641,884,787,816.008514022,653,630.991485978,655.991485978,0.400923471649,0.00442146421787,0.0599312590997,0.999999971475,-0.000106970233312,-0.000210708476197,-3.47677047967e-05,1793250238209107968
+51,0.850000000,BASELINE,768.580884518,745,719.580884518,684,667,641,884,787,816.580884518,653,630.419115482,655.419115482,0.400924575514,0.00442005063418,0.059931904874,0.999999971592,-0.00010822035276,-0.000209541151956,-3.46047175855e-05,1793250238225774592
+52,0.866666667,BASELINE,768.841491524,745,719.841491524,684,667,641,884,787,816.841491524,653,630.158508476,655.158508476,0.400925463386,0.00441924295764,0.0599322510427,0.999999971698,-0.000108939360915,-0.000208679780418,-3.44838650864e-05,1793250238242441216
+53,0.883333333,BASELINE,768.24950065,745,719.24950065,684,667,641,884,787,816.24950065,653,630.75049935,655.75049935,0.400925760572,0.00442009229091,0.0599317778624,0.999999971783,-0.000108205907877,-0.000208655115706,-3.44782408582e-05,1793250238259107584
+54,0.900000000,BASELINE,768,745,719,684,667,641,883.663855213,787,816,653,630.663855213,656,0.400925488905,0.00442027378523,0.05993158775,0.999999971788,-0.000107713858722,-0.000208898445657,-3.43838179956e-05,1793250238275773952
+55,0.916666667,BASELINE,768,745,719,684,667,641,883.08283239,787,816,653,630.08283239,656,0.400924802835,0.00441996876568,0.0599316038496,0.999999971736,-0.000107397669856,-0.000209337006977,-3.42247062366e-05,1793250238292440576
+56,0.933333333,BASELINE,768.490288738,745,719,684,667,641,883.490288738,787,816,653,630,655.509711262,0.400924623221,0.00442051210146,0.059932078746,0.999999971992,-0.000105590250668,-0.000209001916336,-3.44135950167e-05,1793250238309107456
+57,0.950000000,BASELINE,769,745,719.063921048,684.063921048,667,641,884,787,816.063921048,653,630,655.063921048,0.400924473125,0.00442116881631,0.05993247459,0.999999972208,-0.000104033081839,-0.000208708549295,-3.4656862331e-05,1793250238325774592
+58,0.966666667,BASELINE,769,745,719.652533149,684.652533149,667,641,884,787,816.652533149,653,630,655.652533149,0.400923874129,0.00442159837065,0.0599315953779,0.999999971703,-0.000106565285591,-0.000209813536948,-3.48715452745e-05,1793250238342441216
+59,0.983333333,BASELINE,768.76152628,745,720,684.76152628,667,641,884,787,817,653,630,655.76152628,0.400923335824,0.00442176827797,0.0599309884828,0.999999971538,-0.000107042968575,-0.000210344849462,-3.49498940908e-05,1793250238359107840
+60,1.000000000,BASELINE,768.179435036,745,720,684.179435036,667,641,884,787,817,653,630,655.179435036,0.400922884968,0.00442156405916,0.0599307739701,0.999999971867,-0.000104560286581,-0.00021004955185,-3.4831798672e-05,1793250238375774208
+61,1.016666667,BASELINE,768.396273255,745,720,684,667,641,884,787.396273255,817,653,630,655,0.400923481182,0.00442118198314,0.0599310487053,0.999999971939,-0.000104482088328,-0.000209758535961,-3.47316810413e-05,1793250238392440576
+62,1.033333333,BASELINE,768.969137086,745,720,684,667,641,884,787.969137086,817,653,630,655,0.400924543999,0.00442072064892,0.0599315414631,0.999999971899,-0.000105475396221,-0.000209469428147,-3.4639574829e-05,1793250238409107456
+63,1.050000000,BASELINE,769,745,719.454834066,684,667,641,883.454834066,787.454834066,816.454834066,653.545165934,630,655,0.40092561614,0.00442107576233,0.0599325926159,0.999999972235,-0.000104837386558,-0.000208197499942,-3.45424545996e-05,1793250238425774080
+64,1.066666667,BASELINE,768.875554372,745,719,684,667,641,883.124445628,787,816,653.875554372,630.124445628,655.124445628,0.400926045092,0.00442129659656,0.05993305248,0.999999972411,-0.000104480187999,-0.000207544399916,-3.44558835425e-05,1793250238442440448
+65,1.083333333,BASELINE,768.284768023,745,719,684,667,641,883.715231977,787,816,653.284768023,630.715231977,655.715231977,0.400924061806,0.00442084002394,0.0599311774288,0.999999971912,-0.000105523381673,-0.000209419980268,-3.44099137877e-05,1793250238459107328
+66,1.100000000,BASELINE,768.299201732,745,719.299201732,684,667,641,884.299201732,787,816,653,630.700798268,656,0.400923522395,0.00442044615025,0.0599307879549,0.999999971719,-0.000106079265794,-0.000210054749581,-3.44436240952e-05,1793250238475774208
+67,1.116666667,BASELINE,768.876828214,745,719.876828214,684,667,641,884.876828214,787,816,653,630.123171786,656,0.400924326595,0.00442011062161,0.059931780898,0.999999971813,-0.000106181679755,-0.000209534871382,-3.4551481374e-05,1793250238492440832
+68,1.133333333,BASELINE,768.54666867,745,720,684,667,641,884.54666867,787,816,653.45333133,630.45333133,656,0.400924284872,0.00442031674612,0.0599318980909,0.999999971853,-0.000105727710521,-0.000209603316194,-3.43736587416e-05,1793250238509107712
+69,1.150000000,BASELINE,768,745,719.970700088,684,667,641,884,787,816,654,631,656,0.400923976049,0.00442073697727,0.0599317138912,0.999999971869,-0.000105049423005,-0.000209905360433,-3.41444971411e-05,1793250238525774592
+70,1.166666667,BASELINE,768,745,719.398991348,684,667,641,884,787,816,654,631,656,0.40092296693,0.00442240310925,0.0599303442337,0.99999997172,-0.000103010100658,-0.000211579999684,-3.43983115503e-05,1793250238542440960
+71,1.183333333,BASELINE,768.18045966,745,719.18045966,684,667,641,884,787,816,654,631,655.81954034,0.400922590688,0.00442320114856,0.0599297403019,0.999999971651,-0.000102263165552,-0.000212241816113,-3.45597167866e-05,1793250238559107584
+72,1.200000000,BASELINE,768.77779606,745,719.77779606,684,667,641,884,787,816,654,631,655.22220394,0.400923676444,0.00442199382232,0.0599309052594,0.999999971776,-0.000104501751465,-0.00021056392838,-3.45076492406e-05,1793250238575774208
+73,1.216666667,BASELINE,768.638073498,745.361926502,720,684,667,641,884,787,816.361926502,654,630.638073498,655.361926502,0.400924629586,0.00442210118328,0.0599317576409,0.999999972064,-0.000104683829342,-0.000209111885513,-3.44211087456e-05,1793250238592440832
+74,1.233333333,BASELINE,768.061765438,745.938234562,720,684,667,641,884,787,816.938234562,654,630.061765438,655.938234562,0.400925504177,0.00442298727891,0.0599324248727,0.999999972451,-0.000103647766396,-0.000207793618453,-3.43141487361e-05,1793250238609107200
+75,1.250000000,BASELINE,768,745.490339575,720,684,667,641,884,787,817,653.490339575,630,656,0.400925527418,0.00442313739276,0.0599316450502,0.999999972275,-0.000103707368622,-0.000208567143807,-3.45516045069e-05,1793250238625774080
+76,1.266666667,BASELINE,768,745,720,684,667,641,884,787.083748857,816.916251143,653.083748857,630,656,0.400925599325,0.00442296729082,0.0599309827902,0.9999999721,-0.000104150511183,-0.000209158049099,-3.47297311169e-05,1793250238642440960
+77,1.283333333,BASELINE,768,745,720,684,667,641,884,787.67762517,816.32237483,653.67762517,630,656,0.400926590152,0.0044213848389,0.0599320946783,0.999999972334,-0.00010612873036,-0.000207107111207,-3.42946447299e-05,1793250238659107584
+78,1.300000000,BASELINE,768.264029127,745,719.735970873,684,667,641,884,787.735970873,816.264029127,653.735970873,630,656,0.400926461385,0.00442071555481,0.0599323629467,0.999999972372,-0.000106677468995,-0.000206683311671,-3.40229320859e-05,1793250238675773952
+79,1.316666667,BASELINE,768.841560534,745,719.158439466,684,667,641,884,787.158439466,816.841560534,653.158439466,630,656,0.400925003239,0.00442113054592,0.0599316295199,0.999999972184,-0.000105528874267,-0.000208191539975,-3.39452058013e-05,1793250238692440576
+80,1.333333333,BASELINE,769,745,719,684.41935238,667,641,884,787,816.58064762,653,630,655.58064762,0.400926045625,0.00442063441962,0.0599323176007,0.999999972314,-0.00010648456198,-0.000207064131227,-3.40241352877e-05,1793250238709107456
+81,1.350000000,BASELINE,769,745,719,684.997242735,667,641,884,787,816.002757265,653,630,655.002757265,0.400928033349,0.00441979384149,0.0599335430885,0.999999972559,-0.000108235782643,-0.00020494030866,-3.41622891565e-05,1793250238725774080
+82,1.366666667,BASELINE,768.429798547,745,719.570201453,684.429798547,667,641,884,787,816,653,630,655.570201453,0.400927314081,0.0044215293273,0.0599332199406,0.999999972544,-0.000106037459918,-0.00020613352908,-3.43005723856e-05,1793250238742440960
+83,1.383333333,BASELINE,768,745,720,684,667,641,884,787,816.147551858,653,630,655.852448142,0.400926869881,0.00442242977502,0.0599331045968,0.999999972572,-0.00010428249028,-0.00020688544591,-3.43323730125e-05,1793250238759107584
+84,1.400000000,BASELINE,768,745,720,684,667,641,884,787,816.738160396,653,630,655.261839604,0.400927290606,0.00442078575535,0.0599336355239,0.999999972749,-0.000103915639981,-0.000206264502348,-3.40444345405e-05,1793250238775774464
+85,1.416666667,BASELINE,768,745,720,684,667,641,883.676937742,787,816.676937742,653.323062258,630,655.323062258,0.400927534836,0.00441997414308,0.0599335190788,0.999999972729,-0.000104403028453,-0.000206130322469,-3.39597030478e-05,1793250238792441344
+86,1.433333333,BASELINE,768,745,720,684,667,641,883.09658085,787,816.09658085,653.90341915,630,655.90341915,0.400927638501,0.00441982548041,0.0599328870509,0.999999972551,-0.000105570753467,-0.000206383813056,-3.40368105495e-05,1793250238809107968
+87,1.450000000,BASELINE,768,745,720,684.47926762,667,641,883.47926762,787,816,654,630,656,0.400926424254,0.0044207172112,0.0599316550239,0.999999972215,-0.000104970158637,-0.000208284475103,-3.41869498076e-05,1793250238825774336
+88,1.466666667,BASELINE,768,745,720,684.945687074,667,641,884,787,816,653.945687074,630,655.945687074,0.400925005094,0.00442172400918,0.0599304231962,0.999999971868,-0.000104185115011,-0.000210307608363,-3.43566466056e-05,1793250238842440960
+89,1.483333333,BASELINE,768,745,720,684.36971108,667,641,884,787,816,653.36971108,630,655.36971108,0.400924144878,0.00442184105471,0.0599303437752,0.999999971765,-0.000105019222536,-0.000210348611269,-3.45741512467e-05,1793250238859107584
+90,1.500000000,BASELINE,768,745.212082141,720,684,667,641,884,787,816,653.212082141,630,655.212082141,0.400924446495,0.00442166524386,0.0599307055296,0.999999971779,-0.000106035578634,-0.000209757158749,-3.46332303489e-05,1793250238875774208
+91,1.516666667,BASELINE,768,745.804302147,720,684,667,641,884,787,816,653.804302147,630,655.804302147,0.40092683059,0.00442096451467,0.0599318580507,0.999999972004,-0.000107378598557,-0.000208032087639,-3.44083461199e-05,1793250238892440576
+92,1.533333333,BASELINE,768,746,720,684,667,641.385490301,884,787,816,654,630,655.614509699,0.400926975428,0.00442040288535,0.0599318674143,0.99999997192,-0.000108339450939,-0.000207931456419,-3.44537690842e-05,1793250238909107456
+93,1.550000000,BASELINE,768,746,720,684,667,641.961233895,884,787,816,654,630,655.038766105,0.400926015113,0.00441990990674,0.0599313125886,0.999999971684,-0.00010911169005,-0.000208632544401,-3.46325983249e-05,1793250238925774336
+94,1.566666667,BASELINE,768,746,720,684,667,641.464787131,884.535212869,787,816,653.464787131,630,655.535212869,0.400926688807,0.0044209243127,0.0599320934526,0.999999972132,-0.000106546893736,-0.000207879230371,-3.41955132042e-05,1793250238942440960
+95,1.583333333,BASELINE,768,745.887776552,719.887776552,684.112223448,667,641,884.887776552,787,816.112223448,653,630,656,0.400927091909,0.00442175166322,0.0599325977309,0.999999972447,-0.000104418522518,-0.00020750282183,-3.38343126051e-05,1793250238959107840
+96,1.600000000,BASELINE,768,745.297303457,719.297303457,684.702696543,667,641,884.297303457,787,816.702696543,653,630,656,0.400925839149,0.00442131810387,0.0599315123815,0.999999972013,-0.000105176675704,-0.000209180084709,-3.39859906257e-05,1793250238975774464
+97,1.616666667,BASELINE,768.287695395,745.287695395,719.287695395,684.712304605,667,641,884,787,817,653.287695395,630,656,0.400925269467,0.00442053574704,0.0599310116971,0.999999971737,-0.000106288224248,-0.000209916212667,-3.41046817921e-05,1793250238992441088
+98,1.633333333,BASELINE,768.86714278,745.86714278,719.86714278,684.13285722,667,641,884,787,817,653.86714278,630,656,0.400925392496,0.0044193996746,0.0599311039218,0.999999971623,-0.000107758151088,-0.000209697935303,-3.41899209702e-05,1793250239009107456
+99,1.650000000,BASELINE,768.557163628,745.557163628,719.557163628,684,667,641,884,787,817,653.557163628,630,656,0.400926094071,0.00442070234025,0.0599316817204,0.999999972009,-0.000105773451444,-0.000208867666134,-3.41816611975e-05,1793250239025774080
+100,1.666666667,BASELINE,768,745,719.017358631,684.017358631,667,641,884,787,816.982641369,653.017358631,630.017358631,656,0.400926954714,0.00442263585609,0.0599323847483,0.999999972523,-0.000102883823585,-0.000207851872738,-3.41455349511e-05,1793250239042440704
+101,1.683333333,BASELINE,768,745,719.590133909,684.590133909,667,641,884,787,816.409866091,653.590133909,630.590133909,656,0.400927397996,0.00442154070366,0.0599324726347,0.999999972651,-0.000103923283835,-0.000206725330396,-3.41077692525e-05,1793250239059107840
+102,1.700000000,BASELINE,768.168334279,745.168334279,720,684.831665721,667,641,884.168334279,787,816.168334279,654,630.831665721,656,0.400927460418,0.00442057782042,0.0599324796529,0.999999972588,-0.000105282878873,-0.000206342782303,-3.4076036142e-05,1793250239075774720
+103,1.716666667,BASELINE,768.760183647,745.760183647,720,684.239816353,667,641,884.760183647,787,816.760183647,654,630.239816353,656,0.400926564628,0.00441994771563,0.0599322832135,0.99999997205,-0.000107447906335,-0.000207832062222,-3.40594805289e-05,1793250239092441344
+104,1.733333333,BASELINE,768.65497498,745.65497498,720,684,667,641,884.65497498,787,816.65497498,654,630,656,0.40092555893,0.0044200509698,0.0599314979806,0.999999971749,-0.000107735707313,-0.000209117671116,-3.41200226004e-05,1793250239109107968
+105,1.750000000,BASELINE,768.074907623,745.074907623,720,684,667,641,884.074907623,787,816.074907623,654,630,656,0.400924478359,0.00442065381201,0.0599303116423,0.999999971611,-0.000106744680384,-0.000210264532793,-3.42330861367e-05,1793250239125774592
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,745,720,684,667,641,884,787,816,654,630,656,0.400925883493,0.00442316382601,0.0599317918102,0.999999972164,-0.00010408662712,-0.000208926232974,-3.44695365177e-05,1793250239156891392
+107,1.783333333,POSE1_TO_POSE2_PRESS,768.572624471,745,719.427375529,684,667,641,884,787,816,653.427375529,630,655.427375529,0.400924943436,0.00442275111149,0.0599312144833,0.999999971995,-0.000103561737404,-0.000210029957249,-3.42307422975e-05,1793250239173558528
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.849730992,745,719,684.150269008,667,641,884,787,816.150269008,653,630,655.150269008,0.400924425826,0.00442242560054,0.0599308302046,0.999999971904,-0.000103154580924,-0.000210677502947,-3.41367429555e-05,1793250239190225408
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.257315449,745,719,684.742684551,667,641,884,787,816.742684551,653,630,655.742684551,0.400925151205,0.0044223566744,0.0599310139445,0.999999972045,-0.000103093838681,-0.000209982804218,-3.44687831965e-05,1793250239206892544
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745.327961506,719,684.672038494,667.327961506,641,884,787,817,653,630,656,0.400925038558,0.00442211724801,0.0599305551997,0.999999971944,-0.000103565590423,-0.000210241752121,-3.44133631812e-05,1793250239223559168
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745.907756873,719,684.092243127,667.907756873,641,884,787,817,653,630,656,0.400924282411,0.00442174689852,0.059929603106,0.999999971656,-0.000104446231669,-0.00021123298269,-3.40604216056e-05,1793250239240225792
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.482594901,745.517405099,719,684.482594901,667.517405099,641,884,787.482594901,816.517405099,653.482594901,630,656,0.400927270738,0.00442133040096,0.0599312999445,0.999999972133,-0.000105603992514,-0.000208354001161,-3.41992088288e-05,1793250239256892160
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.941977893,745,719.058022107,684.941977893,667,641,884,788,816,654,630.058022107,656,0.400931632653,0.00442095902541,0.0599335461262,0.999999972808,-0.000106847946918,-0.000204407275842,-3.442084816e-05,1793250239273558528
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.352564947,745,719.647435053,684.352564947,667,641,884,788,816,654,630.647435053,656,0.400942086272,0.00442108085869,0.0599362335124,0.999999974047,-0.000108401121961,-0.000197387775863,-3.45492437104e-05,1793250239290225408
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,720,684,667,641,884,787.766923244,816.233076756,654,631,655.766923244,0.400958696779,0.00442123290734,0.0599403140345,0.999999976131,-0.00010869486134,-0.000186318852376,-3.47719592552e-05,1793250239306892288
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,720,684,667,641,884,787.186895354,816.813104646,654,631,655.186895354,0.400984472245,0.00442142993367,0.0599464683373,0.999999979328,-0.000107113842046,-0.000169222077943,-3.51350767253e-05,1793250239323558912
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.38998911,745,720,684,667,641,884,787,817,654,630.61001089,655.38998911,0.401018976326,0.00442242290102,0.0599528252085,0.999999982692,-0.000105014143819,-0.00014939124897,-3.56494014553e-05,1793250239340225280
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.965379237,745,720,684,667,641,884,787,817,654,630.034620763,655.965379237,0.401057629995,0.00442379425915,0.0599592783814,0.999999985848,-0.000102667865199,-0.000128260647546,-3.62356102142e-05,1793250239356891648
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.449135091,745,720,684.550864909,667.550864909,641,884,787,816.449135091,654,630,655.449135091,0.401103583542,0.00442360866554,0.0599612848162,0.99999998741,-0.000105777117506,-0.000112076846437,-3.78154200598e-05,1793250239373558528
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.13532602,745.13532602,720,684.86467398,667.86467398,641,884,787,816,654,630,655.13532602,0.401153374967,0.00442313671499,0.0599627683461,0.999999988363,-0.000108895640085,-9.93953497478e-05,-3.91952246691e-05,1793250239390225152
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.714309377,745.714309377,720,684.285690623,667.285690623,641,884,787,816,654,630,655.714309377,0.401214216469,0.00442205275019,0.0599634708921,0.999999988342,-0.000110899496413,-9.715763869e-05,-3.97107793621e-05,1793250239406891776
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,720,684,667,641,884,787.293881607,816,654,630.293881607,656,0.401286740981,0.00442193062473,0.0599644319846,0.999999988661,-0.000111684106258,-9.25955430221e-05,-4.03740349527e-05,1793250239423558400
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,746,720,684,667,641,884,787.874027413,816,654,630.874027413,656,0.401370645676,0.0044227454078,0.0599656449222,0.999999989282,-0.000111281072354,-8.57693108957e-05,-4.11811630034e-05,1793250239440224768
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.55218787,746,720,684.44781213,667,641,884,787.55218787,816.44781213,654,630.55218787,656,0.401469921014,0.00442386911128,0.0599669717295,0.999999989609,-0.000110978589406,-8.18067129746e-05,-4.21019585575e-05,1793250239456891136
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745.97959363,719.97959363,684.97959363,667,641,884.02040637,787,816.97959363,654,630,656,0.401574560233,0.0044249855559,0.0599684839703,0.999999989875,-0.000110797715155,-7.82362911009e-05,-4.30445665966e-05,1793250239473557760
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745.391020913,719.391020913,684.391020913,667,641,884.608979087,787,816.391020913,654,630,656,0.401709842323,0.00442351422259,0.059974279788,0.99999999062,-0.000113226226619,-6.34703289544e-05,-4.37166811174e-05,1793250239490224384
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745.195299675,719.195299675,684,667.195299675,641,884.804700325,787.195299675,816.195299675,654,630,655.804700325,0.40185371993,0.00442253502847,0.0599778364114,0.999999990934,-0.000115360838656,-5.32687748772e-05,-4.4578303816e-05,1793250239506891264
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745.777162481,719.777162481,684,667.777162481,641,884.222837519,787.777162481,816.777162481,654,630,655.222837519,0.402014610916,0.00442252994197,0.0599769609227,0.999999990759,-0.000116913725552,-5.21017070078e-05,-4.58150262786e-05,1793250239523558144
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745.645446738,720,684.354553262,667.645446738,641,884,788,816.645446738,654,630.354553262,655.354553262,0.402194516456,0.00442380007657,0.0599768795389,0.999999991133,-0.000115401248415,-4.70372508502e-05,-4.69419688755e-05,1793250239540224768
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745.070831569,720,684.929168431,667.070831569,641,884,788,816.070831569,654,630.929168431,655.929168431,0.402386223847,0.00442586170745,0.0599772910351,0.999999991795,-0.000111986180399,-3.9553787928e-05,-4.8000774108e-05,1793250239556891392
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.503004993,745,720,685,667,641,884,787.496995007,816.503004993,654,630.496995007,656,0.402609393509,0.00442759118405,0.0599760608882,0.999999992178,-0.000109098616001,-3.66173567409e-05,-4.89895682891e-05,1793250239573558016
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.920684944,745,719.920684944,685,667,641.079315056,884,787,816.920684944,654,630,656,0.402841997918,0.00442898871212,0.0599750500846,0.999999992498,-0.000106692932262,-3.35524235578e-05,-4.99562853396e-05,1793250239590224640
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.327644666,745,719.327644666,685,667,641.672355334,884,787,816.327644666,654,630,656,0.403107059925,0.00442853868452,0.0599769549566,0.999999992665,-0.000106928019573,-2.5514361904e-05,-5.08437653404e-05,1793250239606891264
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745.258631224,719.258631224,685,667.258631224,641.741368776,884.258631224,787,816.258631224,653.741368776,630.258631224,656,0.403390347926,0.00442833832846,0.0599773420334,0.999999992811,-0.000106065937322,-2.21634563267e-05,-5.13536687665e-05,1793250239623557888
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745.836556091,719.836556091,685,667.836556091,641.163443909,884.836556091,787,816.836556091,653.163443909,630.836556091,656,0.403696136848,0.00442844620488,0.0599758553133,0.999999992984,-0.000103849342411,-2.45990881774e-05,-5.13974343046e-05,1793250239640224512
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745.587683914,720,684.587683914,668,641,885,787,817,653.412316086,630.587683914,656,0.404015940842,0.00443075572583,0.0599658834324,0.999999993102,-9.8137415813e-05,-3.822472874e-05,-5.19948425545e-05,1793250239656891904
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.012777614,720,684.012777614,668,641,885,787,817,653.987222386,630.012777614,656,0.404341271448,0.00443393342986,0.0599525655648,0.999999992878,-9.10471614365e-05,-5.6262969085e-05,-5.28105708803e-05,1793250239673559296
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745,720,684.5737967,667.4262033,641,884.4262033,787,816.4262033,654,630.5737967,655.4262033,0.404682087418,0.00443417611931,0.059933556165,0.999999990557,-8.83591640945e-05,-9.09402762845e-05,-5.30019846291e-05,1793250239690225408
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,745,720,685,667,641,884.158553167,787,816,654,630.841446833,655.158553167,0.405048448679,0.00443459336733,0.0599200753952,0.999999988245,-8.49407533879e-05,-0.000116108617225,-5.30412991159e-05,1793250239706891776
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745,720,685,667,641,884.737782694,787,816,654,630.262217306,655.737782694,0.405481653235,0.00443565076742,0.0599216065523,0.999999988847,-7.93188975157e-05,-0.000115044080483,-5.27147132159e-05,1793250239723558400
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.316561348,745.316561348,720,685,667.316561348,641,885,787,816,654,630,656,0.405962969279,0.00443613606061,0.0599380638641,0.999999991825,-7.66935159571e-05,-8.76704642443e-05,-5.27369173445e-05,1793250239740225024
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.894967124,745.894967124,720,685,667.894967124,641,885,787,816,654,630,656,0.406484080895,0.00443614813441,0.0599668673785,0.999999994921,-7.65466740865e-05,-3.85352336226e-05,-5.30476237941e-05,1793250239756891648
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,719.529088958,685,668,641.470911042,885,787.470911042,816,654,630,656,0.407030643841,0.00443549405771,0.0599956261245,0.999999995516,-7.72437662661e-05,1.18483715357e-05,-5.34850613836e-05,1793250239773558784
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.952774289,719.047225711,685.047225711,668,641.952774289,885,788,816.047225711,654,630,656,0.407580245078,0.00443495803536,0.0600218145708,0.999999993894,-7.7718007791e-05,5.71616901805e-05,-5.38846883938e-05,1793250239790225920
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.365982298,719.634017702,685.634017702,668,641.365982298,885,788,816.634017702,654,630,656,0.408100039388,0.00443745954573,0.060018750174,0.999999995009,-7.35067007191e-05,4.13809741522e-05,-5.3531050026e-05,1793250239806892800
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.217545562,719.782454438,686,667.782454438,641.217545562,885,787.782454438,816.782454438,653.782454438,630,656,0.408640465511,0.00443910798002,0.0600114501843,0.999999995568,-7.50779432871e-05,1.92033085063e-05,-5.34745509313e-05,1793250239823559424
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.795663236,719.204336764,686,667.204336764,641.795663236,885,787.204336764,816.204336764,653.204336764,630,656,0.409215087916,0.00443934247843,0.0599971298878,0.999999994737,-8.62335053945e-05,-1.35770162105e-05,-5.39105469871e-05,1793250239840225792
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,719,686,667.373805633,642,885.373805633,787,816,653.373805633,630,655.626194367,0.409847448552,0.00444102867392,0.059992233771,0.999999993402,-9.84314987869e-05,-2.35995669802e-05,-5.43155781469e-05,1793250239856892160
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,719,686,667.951961525,642,885.951961525,787,816,653.951961525,630,655.048038475,0.410511373227,0.00444350847618,0.0599924896198,0.999999992097,-0.000111199363146,-2.11810066085e-05,-5.4703681569e-05,1793250239873559040
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,719.528612301,686.528612301,668,642,886,787.528612301,816,653.471387699,630,655.528612301,0.411203511119,0.00444400140702,0.0599984728727,0.999999992564,-0.000108308143105,-3.3216899103e-06,-5.59477519381e-05,1793250239890225408
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,720,687,668,642,886,788,816.107509046,653,630,656,0.411893864621,0.00444486997295,0.060001047453,0.999999993079,-0.000102676245424,7.0429224035e-06,-5.70155512277e-05,1793250239906892032
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,720,687,668,642,886,788,816.697088121,653,630,656,0.412564752758,0.00444823021632,0.059986010326,0.999999993975,-9.11179693741e-05,-2.247277927e-05,-5.69451437878e-05,1793250239923558656
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,720,687.281206959,667.718793041,642,886,787.718793041,817,653.281206959,630,656,0.413245047124,0.00445025904808,0.0599587854036,0.999999992076,-8.23921151872e-05,-7.63169004024e-05,-5.68870114789e-05,1793250239940225536
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,720,687.859556214,667.140443786,642,886,787.140443786,817,653.859556214,630,656,0.413935280832,0.00445088102069,0.0599186820302,0.999999983299,-7.66591878042e-05,-0.000155868078762,-5.68418496719e-05,1793250239956892672
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.567978463,746,720,688.432021537,667.432021537,642,886,787.432021537,817,654,630,656,0.414754652486,0.00445178612483,0.0599377510646,0.999999988986,-7.22170896843e-05,-0.000116185238404,-5.75667360175e-05,1793250239973559040
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,720,689,668.002701781,642,886.002701781,788,817.002701781,654,630,656,0.415615340499,0.00445277391598,0.0599757996928,0.999999995226,-6.82029256358e-05,-3.83475101006e-05,-5.85295489385e-05,1793250239990225408
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,720,689,668.59567355,642,886.59567355,788,817.59567355,654,630,656,0.416454106596,0.00445198812118,0.0600142833739,0.999999995869,-6.72349639385e-05,2.08106441351e-05,-5.75171860403e-05,1793250240006891776
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.184226213,746,720,689,668.815773787,642,887.184226213,787.815773787,818,654,630,656,0.41728795388,0.00445188348281,0.0600370325702,0.999999994698,-6.56594880702e-05,5.51564483598e-05,-5.7014702814e-05,1793250240023558656
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.763307301,746,720,689,668.236692699,642,887.763307301,787.236692699,818,654,630,656,0.418111258548,0.00445323877752,0.0600260578012,0.99999999571,-6.27819181995e-05,3.63215576522e-05,-5.76050529426e-05,1793250240040225024
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,720,689.34121308,668,642,888,787,818,654,630.34121308,656,0.418950349372,0.00445430060569,0.0600067388493,0.999999996209,-6.37908519136e-05,5.24356873989e-06,-5.90317306859e-05,1793250240056891648
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,720,689.918306344,668,642,888,787,818,654,630.918306344,656,0.419800353114,0.00445515956072,0.0599816515745,0.999999995272,-6.74865208471e-05,-3.4298058195e-05,-6.10365605968e-05,1793250240073558272
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.508464344,746,720,690.491535656,668,642,888,787,818,654,630.508464344,656,0.420646926187,0.00445524167599,0.0599464881126,0.999999991877,-6.91738261144e-05,-8.6841831852e-05,-6.26088532938e-05,1793250240090225152
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.066159206,746,720,691,667.933840794,642,888.066159206,787.066159206,818,654,630,656,0.421492553512,0.0044553473652,0.0599113211647,0.999999985574,-7.0112347749e-05,-0.000140920248837,-6.38628434234e-05,1793250240106891776
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.656889409,746,720,691,667.343110591,642,888.656889409,787.656889409,818,654,630,656,0.422335167247,0.00445665570002,0.0598893013631,0.99999997763,-6.77397904825e-05,-0.000190166198834,-6.31585873944e-05,1793250240123558656
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,720,691,667.487202581,642,888.75639871,788,818,654,630.24360129,656,0.423246547206,0.0044556860883,0.0599054511709,0.999999981479,-6.98285121081e-05,-0.000168041141424,-6.2681100878e-05,1793250240140225280
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,720,691,668.649490653,642,888.175254674,788,818,654,630.824745326,656,0.424253212251,0.00445156007176,0.0599744901646,0.999999993891,-7.80989420175e-05,-4.70218440969e-05,-6.25178338001e-05,1793250240156891648
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,720,691,669,642,888,787.598660061,818,654,630.598660061,656,0.425222941892,0.00445202663609,0.0600205328201,0.999999994765,-7.6330794734e-05,2.84183705722e-05,-6.1931272927e-05,1793250240173558528
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,691,669,642,888,787.02402983,818,654,630.02402983,656,0.426176723529,0.00445447618217,0.0600566461278,0.999999992121,-7.02281969083e-05,8.41784719539e-05,-6.11619426432e-05,1793250240190225152
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.435984235,746.564015765,720,691,667.871968469,642,888,787,818,653.435984235,630,656,0.427107967474,0.00445338547741,0.0600389937445,0.999999992769,-7.32911043866e-05,7.1109745788e-05,-6.35082219568e-05,1793250240206892032
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.150114019,746.849885981,720,691,667.150114019,642,888,787,818,653.150114019,630,656,0.428027008977,0.00445194383466,0.0600160335913,0.999999993796,-7.67858555781e-05,4.69022973832e-05,-6.56706766452e-05,1793250240223558912
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.728978073,746.271021927,720,691,667.728978073,642,888,787,818,653.728978073,630,656,0.428914007625,0.00444994115322,0.0599846155538,0.999999994531,-8.03715294347e-05,-5.39542632877e-07,-6.6919733094e-05,1793250240240225536
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,720,691.306306948,667.693693052,642,888.306306948,787.306306948,818,654,630,656,0.429778992316,0.00444928814494,0.0599504047306,0.999999992831,-7.91332793824e-05,-6.01077523783e-05,-6.67997952038e-05,1793250240256892416
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,720,691.88228423,667.11771577,642,888.88228423,787.88228423,818,654,630,656,0.430624596037,0.00444982337887,0.0599137351617,0.999999986649,-7.36480825916e-05,-0.000130351924255,-6.54746047612e-05,1793250240273559040
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.541530584,746,720,692,667.458469416,642,888.541530584,787.541530584,818.458469416,654,630,656,0.431590621552,0.0044475121788,0.0599413270017,0.999999991798,-7.93080320557e-05,-7.53736889294e-05,-6.65849345818e-05,1793250240290225408
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.035403197,746,720,692,668.035403197,642,888.035403197,787,818.964596803,654,630.035403197,656,0.432583476036,0.00444466263323,0.0599844684597,0.999999993846,-8.70895487973e-05,8.85831317388e-06,-6.81602988725e-05,1793250240306892032
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.623182967,746,720,692,668.623182967,642,888.623182967,787,818.376817033,654,630.623182967,656,0.433512291648,0.00444482173119,0.060012670374,0.999999993135,-8.33043691448e-05,4.76450129906e-05,-6.72300861168e-05,1793250240323558400
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,720,692,668.791875571,642,889,787,818.208124429,654,630.791875571,656,0.43442062083,0.00444415759179,0.0600204138917,0.999999992841,-8.23759510135e-05,5.53120126692e-05,-6.6881078315e-05,1793250240340225024
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,720,692,668.212003736,642,889,787,818.787996264,654,630.212003736,656,0.435292357745,0.00444202300347,0.0599916150638,0.999999993944,-8.65502186772e-05,7.39367558678e-06,-6.75702062687e-05,1793250240356891648
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,720,692,668,641.635704037,889,787,819,654,630,656,0.436129729633,0.00444029493746,0.0599620747537,0.999999992557,-9.0266041728e-05,-4.58110188907e-05,-6.81062048785e-05,1793250240373558528
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746,720,692,668,641.061463007,889,787,819,654,630,656,0.43694729678,0.00443880115184,0.0599321071266,0.99999998805,-9.37176611044e-05,-0.000102062257084,-6.85539543432e-05,1793250240390225408
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,720,692.513558114,667.486441886,641.513558114,889,787,818.486441886,654,630,656,0.437748757137,0.00443982607231,0.059911020053,0.9999999831,-9.02248852821e-05,-0.000145089763176,-6.78842134169e-05,1793250240406892032
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,720,692.909027514,667,641.909027514,889,787,818.090972486,654,630.090972486,656,0.438557740119,0.00444056664983,0.0598975503221,0.99999997872,-8.71415168167e-05,-0.000174494958552,-6.7208087783e-05,1793250240423558656
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,720,692.318997177,667,641.318997177,889,787,818.681002823,654,630.681002823,656,0.439418581717,0.00443809121413,0.0599200285326,0.999999984108,-9.08703300324e-05,-0.000137865927773,-6.72317370897e-05,1793250240440225024
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,720.266820527,692.266820527,667.266820527,641,889,787,819.266820527,654,630.733179473,656,0.440274883578,0.00443528433913,0.0599556781211,0.999999990013,-9.3615716344e-05,-8.24761276989e-05,-6.63841243227e-05,1793250240456891648
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746,720.847680058,692.847680058,667.847680058,641,889,787,819.847680058,654,630.152319942,656,0.441125842257,0.00443208737113,0.0600068299877,0.999999993375,-9.52036409032e-05,-5.00552013939e-06,-6.4511064475e-05,1793250240473558272
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.42366018,720.57633982,692.57633982,667.152679641,641,889,787,819.57633982,654,630.42366018,656,0.441864630708,0.00443608425271,0.0599931206633,0.999999993427,-9.09188028333e-05,-2.53557907378e-05,-6.50977929004e-05,1793250240490224896
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746.997906013,720.002093987,692.002093987,666.004187975,641,889,787,819.002093987,654,630.997906013,656,0.442563549474,0.00444263811387,0.0599563571,0.999999990973,-8.45465517076e-05,-8.04754799083e-05,-6.65588275259e-05,1793250240506891520
+188,3.133333333,POSE1_TO_POSE2_PRESS,769.56914479,746.43085521,720,692.56914479,666,641,889.56914479,787,819,654,631,656.56914479,0.443226222635,0.0044468625233,0.0599058397516,0.999999982591,-7.9312724309e-05,-0.000154508651504,-6.82259694956e-05,1793250240523558144
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.853071066,746.146928934,720,693,666,641,889.853071066,787,819.146928934,654,631,656.853071066,0.443892134076,0.00445082953406,0.0598646755979,0.999999971827,-7.34623200122e-05,-0.000214789430856,-6.93873871893e-05,1793250240540225024
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.255162851,746.744837149,720,693,666,641,889.255162851,787,819.744837149,654,631,656.255162851,0.444568392325,0.00445403266179,0.0598523743504,0.999999968399,-6.57066244795e-05,-0.000232646585277,-6.89942359988e-05,1793250240556891904
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.329340507,746.670659493,720,693,665.341318985,640.670659493,889.329340507,787,820,654,631,656,0.445201505881,0.00445833207396,0.0598390089408,0.999999961768,-5.73163058699e-05,-0.000261786856405,-6.81632663654e-05,1793250240573558784
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.903864347,746.096135653,720,693,664.192271305,640.096135653,889.903864347,787,820,654,631,656,0.445802499571,0.00446344763416,0.0598248512978,0.999999951783,-4.84535313589e-05,-0.000299327040875,-6.70063550499e-05,1793250240590225152
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.520959886,746,720,693,664,640,890,787,819.520959886,654,631,656,0.44637040521,0.00446701314829,0.0597981521424,0.999999939163,-4.66017774855e-05,-0.000338957825318,-6.78994083001e-05,1793250240606892032
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,746.055666304,720,693,664,639.944333696,890,786.944333696,819.055666304,654,631,656,0.446933490909,0.00447022267778,0.0597722612351,0.999999926745,-4.57141566209e-05,-0.000373687524368,-6.91244783823e-05,1793250240623558912
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,746.644940208,720,693,664,639.355059792,890,786.355059792,819.644940208,654,631,656,0.447514112467,0.0044730057208,0.0597782773081,0.999999932886,-4.05629176665e-05,-0.000357409056143,-6.9583270294e-05,1793250240640225536
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746.769456379,720,693,663.769456379,639,889.769456379,786,820,654,631,656,0.448076484543,0.00447499091186,0.0597861155349,0.999999938592,-3.75105296821e-05,-0.000341315975552,-7.00901850356e-05,1793250240656892416
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746.189417346,720,693,663.189417346,639,889.189417346,786,820,654,631,656,0.448611191039,0.00447576658926,0.0597967160775,0.999999943818,-3.76399208966e-05,-0.000325503937151,-7.06700521389e-05,1793250240673559296
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,746,720,693,663,639,889.387358794,786.387358794,819.612641206,654,631,656,0.449071134408,0.00447848108805,0.059777327838,0.999999932804,-3.33851734171e-05,-0.000358217916792,-7.04058868774e-05,1793250240690225664
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,746,720,693,663,639,889.962552768,786.962552768,819.037447232,654,631,656,0.449494824239,0.00448213574591,0.0597433976596,0.999999911314,-2.70045015528e-05,-0.000414462774068,-6.97324395141e-05,1793250240706892032
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,746.536713037,720,693.536713037,662.463286963,639,890,786.463286963,819.536713037,654,631,656,0.449881568023,0.00448536704179,0.0597058451334,0.999999886404,-2.23087677257e-05,-0.000470958592229,-6.99521573735e-05,1793250240723558656
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,747,720.114225551,693.885774449,662,638.885774449,890,786.114225551,820,654,631,656,0.450267408644,0.00448847542028,0.0596741781673,0.999999863592,-1.82568504868e-05,-0.000517243785059,-7.02965082627e-05,1793250240740225024
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747,720.706055772,693.293944228,662,638.293944228,890,786.706055772,820,654,631,656,0.450660230639,0.00449119312292,0.0596681748613,0.999999861755,-1.64062809414e-05,-0.00052076283269,-7.09019175982e-05,1793250240756891136
+203,3.383333333,POSE1_TO_POSE2_PRESS,769.290094054,747,720.709905946,693,661.709905946,638,890,786.709905946,820,654,631,656,0.451035996961,0.00449332123884,0.0596709378218,0.999999866283,-1.45739328135e-05,-0.000512000653456,-7.12506865385e-05,1793250240773557760
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.866443467,747,720.133556533,693,661.133556533,638,890,786.133556533,820,654,631,656,0.451394933278,0.00449486756965,0.0596823510488,0.999999876774,-1.27595650929e-05,-0.000491119759378,-7.13462110408e-05,1793250240790224384
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.556777713,746.556777713,720,693,661,638,890,786.443222287,820,654,631,656,0.451724763824,0.00449822572238,0.0596940520729,0.999999885013,-9.25106567762e-06,-0.00047410471281,-7.15015342502e-05,1793250240806891520
+206,3.433333333,POSE1_TO_POSE2_PRESS,769,746.020561686,720,693.020561686,661,638,889.979438314,786.979438314,820,654,631,656,0.452043643432,0.00450211023527,0.059705298381,0.999999892112,-5.201595281e-06,-0.000458921686755,-7.16977844702e-05,1793250240823558400
+207,3.450000000,POSE1_TO_POSE2_PRESS,769,746.609823693,720,693.609823693,661,638,889.390176307,786.390176307,820,654,631,656,0.452302450323,0.00450543807045,0.059701567133,0.999999890574,-3.22877883674e-07,-0.000462158827298,-7.25271419842e-05,1793250240840225024
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,746.804138899,720,693.804138899,660.804138899,637.804138899,889.195861101,786.195861101,820,654,631,656,0.452548646178,0.00451154583998,0.0596949157941,0.999999886412,7.23485117166e-06,-0.000470793062115,-7.40111745348e-05,1793250240856891392
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,746.224421261,720,693.224421261,660.224421261,637.224421261,889.775578739,786.775578739,820,654,631,656,0.452770126385,0.00452310183732,0.0596825415429,0.999999876799,2.00430154348e-05,-0.000490004740825,-7.67782656747e-05,1793250240873558016
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,746.352458067,720,693,660,637,890,786.647541933,820,654,630.647541933,656,0.45296576567,0.00453844472326,0.0596729003998,0.999999867856,3.6242926824e-05,-0.000506601082319,-7.95638913051e-05,1793250240890224640
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,746.927544648,720,693,660,637,890,786.072455352,820,654,630.072455352,656,0.453145082678,0.00455617958106,0.0596649856107,0.999999859114,5.45852208924e-05,-0.000521545459886,-8.23612244141e-05,1793250240906891264
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,747,720,693.503041665,659.496958335,637,889.496958335,786,820,654,630,656,0.453301516366,0.00455900656344,0.0596592228033,0.999999853779,5.80585200281e-05,-0.000531320208507,-8.22743764606e-05,1793250240923558144
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,747,720,694,659.080354997,637,889.080354997,786,820,654.080354997,630,656,0.45345107725,0.00455903111826,0.0596541280433,0.999999849082,5.87933836359e-05,-0.000540100788114,-8.16779203358e-05,1793250240940224768
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,747,720,694,659.668778696,637,889.668778696,786,820,654.668778696,630,656,0.453578039718,0.00455492419139,0.0596512957985,0.999999845433,5.57659373233e-05,-0.000547307271799,-8.04880856174e-05,1793250240956891392
+215,3.583333333,POSE1_TO_POSE2_PRESS,769,746.747402728,720,693.747402728,659.747402728,637,890,786,820,654.747402728,630.252597272,656,0.453697200154,0.00455521330774,0.0596486204663,0.999999842562,5.68703162077e-05,-0.000552472820938,-8.01010868176e-05,1793250240973558272
+216,3.600000000,POSE1_TO_POSE2_PRESS,769,746.169514592,720,693.169514592,659.169514592,637,890,786,820,654.169514592,630.830485408,656,0.453806313245,0.00456116358087,0.0596461472037,0.999999840719,6.32955959182e-05,-0.000555010085684,-8.07479677819e-05,1793250240990224896
+217,3.616666667,POSE1_TO_POSE2_PRESS,769,746,720.407565108,693.407565108,659.407565108,636.592434892,890,786,820,654,631,656,0.45389987075,0.00455963232648,0.0596477823061,0.999999842995,6.10887307373e-05,-0.000551195564371,-8.03804232462e-05,1793250241006891520
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,746,720.984309215,693.984309215,659.984309215,636.015690785,890,786,820,654,631,656,0.453986971176,0.00455499551332,0.0596511227778,0.99999984693,5.52986891158e-05,-0.000544744436488,-7.95917938461e-05,1793250241023558144
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.560885689,746.560885689,720.439114311,694,659.439114311,636,889.439114311,786,820,654,631,656,0.454053379403,0.00455645730552,0.0596540843786,0.999999848768,5.7967023795e-05,-0.000541095933554,-7.94864725191e-05,1793250241040224768
+220,3.666666667,POSE1_TO_POSE2_PRESS,769.858535026,747,720,694,659,636,889.141464974,786,820,654,631,656,0.45411388415,0.00455767813114,0.0596557799744,0.999999849855,6.03735705097e-05,-0.000538849441745,-7.92892506576e-05,1793250241056891392
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.265153715,747,720,694,659,636,889.734846285,786,820,654,631,656,0.454157378603,0.00455758432369,0.0596534651076,0.999999848779,6.11881452534e-05,-0.000540831350775,-7.87374010889e-05,1793250241073557760
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747,720,693.681966883,659,636.318033117,890,786,820,654,631,656,0.454194917024,0.00455712728419,0.0596526172847,0.999999848386,6.15194196958e-05,-0.000541602034798,-7.81682278684e-05,1793250241090224640
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747,720,693.107015445,659,636.892984555,890,786,820,654,631,656,0.454227643959,0.00455637681308,0.0596529545913,0.999999848548,6.14602672689e-05,-0.000541394248936,-7.75850599339e-05,1793250241106891520
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,747,720,693,659,636.531229588,889.531229588,786,820,654,631,656,0.454248040485,0.00455742642114,0.059650801272,0.999999846904,6.33675080509e-05,-0.000544234781658,-7.73693571749e-05,1793250241123558144
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,746.954303608,720,693,659,636,889.045696392,786,820,654,631,656,0.45426485636,0.00455867937596,0.0596480922156,0.99999984481,6.53730597707e-05,-0.000547847298069,-7.72605027141e-05,1793250241140224768
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,746.366107324,720,693,659,636,889.633892676,786,820,654,631,656,0.454272641029,0.00455745912648,0.0596455477132,0.999999842461,6.32068893568e-05,-0.000552348342155,-7.74224470772e-05,1793250241156891392
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,746,720,693.218994556,658.781005444,636,890,786,820,654,631,656,0.454279507574,0.00455677226255,0.0596435556335,0.99999984066,6.20831220062e-05,-0.000555725782055,-7.74291416773e-05,1793250241173558016
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,746,720,693.798995364,658.201004636,636,890,786,820,654,631,656,0.45428486062,0.00455696466948,0.0596424742071,0.999999839793,6.26777263723e-05,-0.000557250992392,-7.71799114837e-05,1793250241190224384
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,746,720,693.626468382,658,636,889.626468382,786,820,654,631,656,0.454289057334,0.00455797090249,0.059641732519,0.99999983934,6.34627289215e-05,-0.000557969848981,-7.72087476337e-05,1793250241206891008
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,746,720,693.054830332,658,636,889.054830332,786,820,654,631,656,0.454292640775,0.00455940875675,0.0596411710147,0.999999839108,6.43487111361e-05,-0.000558261047307,-7.73850592099e-05,1793250241223557632
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,746.520098618,720,693.520098618,658,636.520098618,889.520098618,786.520098618,820.520098618,654.520098618,631,656,0.454296926043,0.00455942459707,0.0596425236939,0.999999839842,6.55154737085e-05,-0.000556856299115,-7.70335466279e-05,1793250241240224256
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,747,720.098461746,693.901538254,658,636.901538254,890,787,820.901538254,654.901538254,631,656,0.454300372199,0.00455918213262,0.059643741806,0.999999840452,6.65003231494e-05,-0.000555713188312,-7.65341519969e-05,1793250241256891136
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,747,720.692347448,693.307652552,658,636.307652552,890,787,820.307652552,654.307652552,631,656,0.454299221581,0.00455839908266,0.0596432609792,0.99999983993,6.64199625739e-05,-0.000556791886676,-7.55724357401e-05,1793250241273558016
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,747,720.720812481,693.279187519,658.279187519,636,889.720812481,786.720812481,820,654,631,656,0.45429867111,0.00455813474491,0.0596426419827,0.999999839241,6.6391493868e-05,-0.000558075240481,-7.5243346872e-05,1793250241290224640
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,747,720.141545207,693.858454793,658.858454793,636,889.141545207,786.141545207,820,654,631,656,0.454298765696,0.00455842793568,0.059641874477,0.999999838373,6.64188002079e-05,-0.000559578564695,-7.55942262154e-05,1793250241306891264
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,746.569320326,720,694,659,636,889.430679674,786,820,654,630.569320326,656,0.454299694894,0.00455893826652,0.0596418050571,0.999999838586,6.59531311131e-05,-0.000559248254292,-7.56302946748e-05,1793250241323557888
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,746.000633446,720,694,658.999366554,636,889.999366554,786,820,654,630,656,0.454300892289,0.00455952016005,0.0596419609093,0.999999839147,6.53311137165e-05,-0.000558326543078,-7.55651181631e-05,1793250241340224512
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,746.57622171,720,694,658.42377829,636,889.42377829,786,820,654,630,656,0.454300555968,0.00456132432594,0.059641693481,0.999999838705,6.74901939328e-05,-0.000558800326594,-7.60034370082e-05,1793250241356891136
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.156948547,747,720,694,658,636,889.156948547,786,820,654.156948547,630.156948547,656,0.454300260502,0.00456176967781,0.0596412557958,0.999999838301,6.82888230267e-05,-0.000559401498608,-7.61865412323e-05,1793250241373557760
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.752019701,747,720,694,658,636,889.752019701,786,820,654.752019701,630.752019701,656,0.454300079086,0.00455842189383,0.059640342838,0.999999838006,6.52897462977e-05,-0.000560358276193,-7.56572126178e-05,1793250241390224896
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.662242189,747,720,694,658,636,889.662242189,786,820,654.662242189,630.662242189,656,0.454300443124,0.00455756388246,0.0596399518724,0.999999837617,6.50621651685e-05,-0.000561131847534,-7.52534534212e-05,1793250241406891776
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.083172132,747,720,694,658,636,889.083172132,786,820,654.083172132,630.083172132,656,0.454301196864,0.00455848469797,0.0596399338462,0.999999837165,6.68146888738e-05,-0.000561774526496,-7.49394077567e-05,1793250241423558400
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.491118265,747,720,693.508881735,658,636,889.491118265,786,820,654,630.491118265,656,0.45430168474,0.00455897243342,0.0596403689245,0.999999837662,6.54611880034e-05,-0.00056098845169,-7.53899701495e-05,1793250241440225024
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.933703235,746.933703235,720,693,658,636,889.933703235,786,819.933703235,654,630.933703235,656,0.454301851611,0.00455920145224,0.0596407468905,0.999999838114,6.39408844361e-05,-0.00056029448758,-7.58556173094e-05,1793250241456891648
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.345215628,746.345215628,720,693,658,636,889.345215628,786,819.345215628,654,630.345215628,656,0.454299841287,0.00455796479694,0.059640076429,0.999999836987,6.52099934866e-05,-0.000562213509117,-7.54299873897e-05,1793250241473558272
+246,4.100000000,HOLD_POSE2,769,747,720,694,658,636,891,785,820,654,630,656,0.454301777163,0.00455875520473,0.0596423608441,0.999999838336,6.63946972755e-05,-0.000559716627839,-7.50749671866e-05,1793250241511985152
+247,4.116666667,HOLD_POSE2,769,747,720,693.425599086,658,636,889.851198172,785.574400914,820,654,630,655.425599086,0.454300875247,0.0045592572452,0.0596397178803,0.999999837239,6.54089937802e-05,-0.000561776124048,-7.51758759864e-05,1793250241528651520
+248,4.133333333,HOLD_POSE2,769,747,720,693.152119154,658,636,889.152119154,786,820,654,630,655.152119154,0.454300888043,0.00455971299247,0.0596384731834,0.999999836908,6.48605556691e-05,-0.000562418123544,-7.52477485151e-05,1793250241545318144
+249,4.150000000,HOLD_POSE2,769,747,720,693.739325661,658,636,889.739325661,786,820,654,630,655.739325661,0.454303517071,0.0045600363332,0.0596412277733,0.999999838777,6.55627727072e-05,-0.000559005835334,-7.52365722608e-05,1793250241561985024
+250,4.166666667,HOLD_POSE2,769,747,720,694,658,636,889.678029209,786.321970791,820,654,630.321970791,656,0.454303183495,0.00456094875931,0.0596410095298,0.999999838331,6.73939816966e-05,-0.000559578590411,-7.52838666145e-05,1793250241578651648
+251,4.183333333,HOLD_POSE2,769,747,720,694,658,636,889.099025512,786.900974488,820,654,630.900974488,656,0.454300484838,0.00456233145891,0.0596384180399,0.999999836028,7.01264776259e-05,-0.0005633326506,-7.53778387123e-05,1793250241595318016
+252,4.200000000,HOLD_POSE2,769,746.520417059,720,694,658,636,889.479582941,786.040834117,820,654,631,656,0.454301474784,0.0045606132145,0.059638720108,0.999999836273,7.04207318459e-05,-0.000562929003631,-7.48748685327e-05,1793250241611984640
+253,4.216666667,HOLD_POSE2,769,746.057829261,720,694,658,636,890,785.057829261,820,654,631,656.057829261,0.454302907979,0.00455849037313,0.0596394336624,0.999999836915,7.00239145278e-05,-0.000561909718952,-7.43295514716e-05,1793250241628651008
+254,4.233333333,HOLD_POSE2,769,746.633562717,720,694,658,636,890,785.633562717,820,654,631,656.633562717,0.454301495423,0.00455847362437,0.0596384860072,0.999999836398,6.79431327437e-05,-0.000563059062458,-7.45079463454e-05,1793250241645317632
+255,4.250000000,HOLD_POSE2,769,747,720,693.786932325,658.213067675,636,890,786,820,654,631,656.786932325,0.454300940378,0.00455891864884,0.0596381383955,0.999999836111,6.69868897555e-05,-0.000563670535038,-7.46081851921e-05,1793250241661984512
+256,4.266666667,HOLD_POSE2,769,747,720,693.200824253,658.799175747,636,890,786,820,654,631,656.200824253,0.45430188667,0.00456017214916,0.0596388413445,0.999999836231,6.79994974798e-05,-0.00056334029927,-7.45715878944e-05,1793250241678651648
+257,4.283333333,HOLD_POSE2,769,747,720,693.381420216,658.618579784,636,890,786,820,654,631,656,0.454303402924,0.00456086888711,0.059639009111,0.99999983667,6.7876929658e-05,-0.000562532373022,-7.48975203742e-05,1793250241695318272
+258,4.300000000,HOLD_POSE2,769,747,720,693.961650885,658.038349115,636,890,786,820,654,631,656,0.454305216262,0.00456127541985,0.0596388979204,0.999999837274,6.7162666064e-05,-0.000561475456635,-7.54124169017e-05,1793250241711984640
+259,4.316666667,HOLD_POSE2,769,747,720.53882908,694,658,636,890,786,820,654,631,656,0.45430527765,0.00456147831032,0.0596400682266,0.999999838146,6.83340707876e-05,-0.000559838606755,-7.49647176654e-05,1793250241728651264
+260,4.333333333,HOLD_POSE2,769.115463065,747,721,694,658,636,890,786,820,654,631,656,0.454304986337,0.00456129492426,0.0596408296177,0.999999838613,6.84017783565e-05,-0.000559038319778,-7.46379406508e-05,1793250241745317888
+261,4.350000000,HOLD_POSE2,769.69079013,747,721,694,658,636,890,786,820,654,631,656,0.454303784107,0.00455963048291,0.0596396011838,0.999999837392,6.35422040401e-05,-0.00056173333991,-7.50640897562e-05,1793250241761984512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,769,746,720,694,658,636,890,786,820,654,631,656,0.454304981645,0.00456144552821,0.0596411043258,0.999999837548,6.99805467468e-05,-0.0005607548334,-7.45713393835e-05,1793250241799177472
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,746.578695959,720,693.421304041,658,636,889.421304041,786,820,654,631,656,0.454302280409,0.00456000292163,0.0596382959364,0.999999835486,6.76145282201e-05,-0.000564726655395,-7.44267777058e-05,1793250241815844352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,746.843334242,720,693.156665758,658,636,889,786,819.843334242,654,631,656,0.454301079133,0.00455857506201,0.059636833592,0.999999834536,6.57890652e-05,-0.000566652584499,-7.41952134068e-05,1793250241832510976
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,746.267308088,720,693.732691912,658,636,889,786,819.267308088,654,631,656,0.454303892927,0.00455718667647,0.0596389743186,0.999999836601,6.54105519915e-05,-0.000563102101152,-7.37307618543e-05,1793250241849177600
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,746.313911935,720,694,658,636,889.313911935,786,819.313911935,654,630.686088065,656,0.454304515205,0.00455752714651,0.0596396533623,0.999999837205,6.57783294671e-05,-0.000561965440651,-7.38764422362e-05,1793250241865843968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,746.899629111,720,694,658,636,889.899629111,786,819.899629111,654,630.100370889,656,0.454303239928,0.00455936457153,0.0596390667861,0.999999836552,6.67922936715e-05,-0.00056291882419,-7.45504143073e-05,1793250241882510336
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,747,720,693.520565478,658,636,890,786,820,654,630.479434522,656,0.454302028577,0.00456031089341,0.0596377735851,0.999999835487,6.80851069975e-05,-0.000564643150683,-7.46271544208e-05,1793250241899177216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,746.942071718,720,693.057928282,658.057928282,636,890,786,819.942071718,654.057928282,631,656,0.454300973256,0.00456107030728,0.0596365636874,0.999999834499,6.9423583134e-05,-0.00056623603691,-7.45533396396e-05,1793250241915843840
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,746.364377238,720,693.635622762,658.635622762,636,890,786,819.364377238,654.635622762,631,656,0.454301199298,0.00456180616329,0.0596374124145,0.999999835012,7.0654353184e-05,-0.000565219039035,-7.4236854636e-05,1793250241932510720
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,746,720,694,658.787811934,636,890,786,819.212188066,654.787811934,630.787811934,656,0.454297204691,0.00456166219033,0.059635839264,0.999999833762,7.05633510581e-05,-0.000567453024798,-7.4117401669e-05,1793250241949177600
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,746,720,694,658.213175487,636,890,786,819.786824513,654.213175487,630.213175487,656,0.454286000597,0.0045600153402,0.0596301291907,0.99999982946,6.82145678057e-05,-0.000575240168147,-7.43345083864e-05,1793250241965844992
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,769,746,720,691,667,641,888.263805735,788,818.736194265,654,630,655.736194265,0.43725722616,0.00459669220038,0.0597926123606,0.999999900262,0.000283130868059,-0.00034492810286,1.83640811879e-05,1793250242682511360
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746,719.031576421,687.968423579,665.063152842,641,887,787,818,653,630,655.968423579,0.422819543478,0.00456654479611,0.0598401735124,0.999999947341,0.000199580575137,-0.000253605276412,3.42057819227e-05,1793250242949178624
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,746,719.610849554,687.389150446,666.221699108,641,887,787,818,653,630,655.389150446,0.421923799352,0.00456756153058,0.0598386019582,0.999999947753,0.000197071638674,-0.000253839395825,3.49557108164e-05,1793250242965844992
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,666.622869036,641,886.811434518,787,818,653,630,655,0.421002866953,0.00456831187687,0.059815803837,0.999999937583,0.00019349627349,-0.000293487845848,3.54664346329e-05,1793250242982511616
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.473811662,641,886.236905831,787,818,653,630,655,0.420030378046,0.00456851696957,0.0597495583478,0.999999896128,0.000187738097939,-0.000413811087262,3.54875439365e-05,1793250242999178240
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665,641,886,787,818,653,630,655.336817042,0.419127710277,0.00456787393806,0.059720492841,0.999999882083,0.000177822806293,-0.000450641762307,3.36840603016e-05,1793250243015844864
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,665,641,886,787,818,653,630,655.909974449,0.418274035197,0.00456663578824,0.0597175160735,0.999999893949,0.000164990519119,-0.00042888672858,3.06002825307e-05,1793250243032511744
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.497532988,746,720,687,666.004934025,641,885.497532988,787,818,653,630,656,0.41747579907,0.0045653197918,0.0597581051475,0.999999916641,0.00016021061651,-0.000374118341237,3.29547142469e-05,1793250243049178368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.095161338,745.904838662,720,687,666.809677324,641,885.095161338,787,818,653,630,656,0.416689133781,0.00456414874695,0.0598025640124,0.999999936325,0.000156540426145,-0.000318679919431,3.58952646929e-05,1793250243065844992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.670687256,745.329312744,720,687,665.658625487,641,885.670687256,787,818,653,630,656,0.415908730348,0.0045637826262,0.0598255786249,0.999999945627,0.000150897780525,-0.000290911997951,3.66792367563e-05,1793250243082511360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.245616416,745.245616416,720,686.754383584,665.245616416,641,885.754383584,787,818,653,630,656,0.415136327028,0.00456288234259,0.05984173269,0.999999951296,0.000151878985568,-0.000270111659381,3.71622208224e-05,1793250243099177984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769.819747357,745.819747357,720,686.180252643,665.819747357,641,885.180252643,787,818,653,630,656,0.414374624004,0.00456126761061,0.0598487106995,0.999999952785,0.000161719660742,-0.00025863053829,3.72426302545e-05,1793250243115844608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.189280117,745.594640058,720,686.405359942,666,641,885.405359942,787,818,653,630,656,0.413595921832,0.00456078260164,0.0598385733284,0.999999938543,0.000211198593634,-0.000277282261146,3.77196407358e-05,1793250243132511488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.007546034,745.003773017,720,686.996226983,666,641,885.996226983,787,818,653,630,656,0.41280944018,0.00456081459388,0.0598206033519,0.99999991243,0.000278817400338,-0.000309723840844,3.83781497678e-05,1793250243149178112
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.575597436,745.575597436,719.424402564,686.424402564,665.424402564,641,885.424402564,787,818,653,630,656,0.41203288289,0.00455916038933,0.0597698108187,0.999999887577,0.000265443485074,-0.000391178006418,3.6953633938e-05,1793250243165844992
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,745.846378491,719.153621509,686,665,641,885,787,818,653,630,656,0.411294085,0.00455729931176,0.0597354728659,0.999999869749,0.000251597037412,-0.000442648838736,3.55381546997e-05,1793250243182511872
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,745.271840872,719.728159128,686,665,641,885,787,818,653,630,656,0.410658571262,0.00455490110251,0.0597467976803,0.999999886619,0.000237882040687,-0.000411103651478,3.41841147039e-05,1793250243199178496
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,745,719.700922881,685.700922881,665.598154239,640.700922881,885,787,817.700922881,653,630.299077119,656,0.410057779582,0.00455271086169,0.0597787245916,0.999999909822,0.000224423444854,-0.000358903191709,3.4344793214e-05,1793250243215845120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,745,719.133255579,685.133255579,666.733488842,640.133255579,885,787,817.133255579,653,630.866744421,656,0.409488170547,0.00455070738983,0.059829153489,0.999999935539,0.000211195113356,-0.00028815299063,3.58657847852e-05,1793250243232512000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745,719,685,666.083180674,640.458409663,885,787,817,653.458409663,630.541590337,656,0.408886563727,0.00455009905866,0.0598496494766,0.999999945014,0.000203279888089,-0.000259447975995,3.65395015047e-05,1793250243249178112
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745,719.055513975,685,665,641,884.944486025,787,817,654,630.055513975,655.944486025,0.408278869149,0.00454987597581,0.0598580041373,0.99999994925,0.000197082200158,-0.000247597662971,3.67927562564e-05,1793250243265844480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745,719.634492329,685,665,641,884.365507671,787,817,654,630.634492329,655.365507671,0.407706323099,0.00454925015902,0.05983845318,0.99999994371,0.000191711890879,-0.000273062956841,3.55320158842e-05,1793250243282511360
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,665,641,884.21139692,787,817,653.78860308,630.78860308,655.21139692,0.407160444595,0.00454756169102,0.0598246797576,0.999999940159,0.000185937267114,-0.00028966081604,3.47167154742e-05,1793250243299178240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,665,641,884.784750727,787,817,653.215249273,630.215249273,655.784750727,0.40666022671,0.00454405373621,0.0598207987167,0.999999940932,0.000179470370918,-0.000291075722063,3.46641040183e-05,1793250243315845632
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745,719.640311826,684.640311826,665.359688174,640.640311826,884.640311826,787,817,653,630,656,0.406186836532,0.00454158777612,0.0598227712192,0.99999994373,0.00017451703233,-0.000284408528052,3.45731241327e-05,1793250243332512256
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745,719.06442243,684.06442243,665.93557757,640.06442243,884.06442243,787,817,653,630,656,0.405729571893,0.00453974813746,0.0598282621669,0.999999947643,0.000170473461696,-0.000272883348731,3.44590817585e-05,1793250243349178624
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.475833183,745,719.524166817,684,665.475833183,640.524166817,884.524166817,787,817,653,630,655.475833183,0.405288321524,0.00453838732761,0.0598204933667,0.999999945448,0.000167144751406,-0.000282894165101,3.37387149437e-05,1793250243365845248
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.112506832,745,719.887493168,684,665.112506832,641,884.887493168,787,817,653,630,655,0.40485346999,0.0045372761625,0.0598083288525,0.999999940603,0.000164023031985,-0.000301340537193,3.29191447957e-05,1793250243382511616
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.693153941,745,719.306846059,684,665.693153941,641,884.306846059,787,817,653,630,655,0.404436850706,0.00453695281171,0.0597848232687,0.999999927434,0.000161387938855,-0.000343600132188,3.20045663334e-05,1793250243399177984
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745,719.270509905,684,665.729490095,640.729490095,884,787,817,653,630,655.270509905,0.404055697286,0.00453602408223,0.0597668167583,0.99999991732,0.000159623096383,-0.00037272341129,3.09436790291e-05,1793250243415844864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745,719.844177481,684,665.155822519,640.155822519,884,787,817,653,630,655.844177481,0.403714290118,0.00453441691108,0.0597549730046,0.999999912011,0.000158833535267,-0.000387124954033,2.9718825007e-05,1793250243432511488
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.417090798,640.417090798,884,787,817,653.417090798,630,656,0.40342652007,0.00453294299576,0.0597653217375,0.999999919338,0.000162504224191,-0.000366125754012,2.9450694484e-05,1793250243449178368
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.989722824,640.989722824,884,787,817,653.989722824,630,656,0.403158752348,0.00453151877416,0.0597839464783,0.999999930392,0.000167838226507,-0.000331924931413,2.95393446625e-05,1793250243465845504
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.414687008,745,719.414687008,684,665.414687008,640.414687008,884,787,817,653.414687008,630,656,0.402926302892,0.00453035425292,0.0598081790657,0.999999942238,0.000169230898346,-0.000293302148286,2.92933091905e-05,1793250243482511872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.175102527,745,719,684,665.175102527,640.175102527,884.175102527,787,817,653,630,656,0.40269990248,0.00452897087175,0.059827827326,0.999999950806,0.000169376969243,-0.000262375123922,2.92990334673e-05,1793250243499178240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.750666322,745,719,684,665.750666322,640.750666322,884.750666322,787,817,653,630,656,0.402485860178,0.0045270761015,0.0598367567963,0.999999954577,0.000166836781928,-0.000249233203595,2.98945233945e-05,1793250243515844864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,719,684,665.674802176,641,885,787,817,653,630.325197824,656,0.402278021385,0.00452474851664,0.0598357520273,0.999999953606,0.000164088710289,-0.000254828656043,3.04250725933e-05,1793250243532511232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,719,684,665.101059581,641,885,787,817,653,630.898940419,656,0.402074923838,0.00452209013658,0.05982715464,0.99999994879,0.000161181754867,-0.000274744854834,3.09059884339e-05,1793250243549177856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.512033153,745,719.487966847,683.512033153,665,641,884.512033153,787,817,653,630.512033153,655.512033153,0.401904222196,0.0045215695607,0.0598240683023,0.999999946696,0.000158982899356,-0.000283517382679,3.08391588628e-05,1793250243565844224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,719.921867795,683.078132205,665.078132205,641,884,787,817,653,630,655,0.401745743403,0.00452156148424,0.0598226125658,0.999999945482,0.000157031550571,-0.000288863703782,3.05867880709e-05,1793250243582510848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,719.345282769,683.654717231,665.654717231,641,884,787,817,653,630,655,0.401621054809,0.00452190707474,0.0598240425755,0.99999994609,0.000155693377101,-0.000287551688423,2.98978395391e-05,1793250243599177984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.230516354,745,719,684,665.769483646,641,884,787,816.769483646,653,630,655.230516354,0.401507670761,0.00452151289131,0.0598264088415,0.999999947217,0.000153368913759,-0.000284909721631,2.9517344632e-05,1793250243615844352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.805142265,745,719,684,665.194857735,641,884,787,816.194857735,653,630,655.805142265,0.401411161889,0.00452001439022,0.0598301727294,0.999999949097,0.000149572139455,-0.000280282433733,2.95973023047e-05,1793250243632510720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.610493817,745,719,684,665.389506183,641,884,787,816.389506183,653,630,655.610493817,0.401328653181,0.00451957503628,0.0598318962416,0.999999950019,0.000148975152215,-0.00027732348916,2.93267875719e-05,1793250243649177344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.02113338,745,719,684,665.97886662,641,884,787,816.97886662,653,630,655.02113338,0.401253327909,0.00451967912706,0.0598325728441,0.999999950457,0.000150019964587,-0.00027522056583,2.88764466775e-05,1793250243665844224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.559747568,745.559747568,719,684,665.440252432,641,883.440252432,786.440252432,817,653,630,655.559747568,0.401185930382,0.00451776810705,0.0598286318742,0.999999948531,0.000147192800119,-0.000283608773612,2.89662445493e-05,1793250243682510848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745.861443304,719.138556696,684,665,640.861443304,883.138556696,786.138556696,817,653.138556696,630,655.861443304,0.401125049403,0.00451660113276,0.0598251740203,0.99999994687,0.000144802483275,-0.000290610140692,2.89459942796e-05,1793250243699177728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745.288145409,719.711854591,684,665,640.288145409,883.711854591,786.711854591,817,653.711854591,630,655.288145409,0.401083689902,0.00451800385968,0.0598237708573,0.999999946549,0.000144234676497,-0.000292035840429,2.85174211959e-05,1793250243715844352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.714537643,745,720,683.714537643,665,640.285462357,884,787,817,653.714537643,630,655.285462357,0.401048814544,0.00451761726191,0.0598233616017,0.999999946541,0.000142618929077,-0.000292861800853,2.84450592387e-05,1793250243732510976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.140616682,745,720,683.140616682,665,640.859383318,884,787,817,653.140616682,630,655.859383318,0.401020491381,0.00451542255866,0.0598239566853,0.999999946847,0.000139944241642,-0.000293081727202,2.87326471893e-05,1793250243749177600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.449418644,745,719.550581356,683,665.449418644,641,884,787,817,653,630,656,0.40100145904,0.00451469774253,0.0598243774015,0.999999946996,0.000139863167485,-0.000292607665073,2.87548982198e-05,1793250243765844224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.956769846,745,719,683.043230154,665.956769846,641,884,787,817,653.043230154,630,655.956769846,0.400986034823,0.0045144765049,0.0598249125964,0.9999999472,0.000140535390624,-0.000291598651342,2.86487865795e-05,1793250243782510848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.380864909,745,719,683.619135091,665.380864909,641,884,787,817,653.619135091,630,655.380864909,0.400977918058,0.0045145826346,0.0598275556238,0.999999948671,0.000140118527647,-0.000286773106422,2.80220150734e-05,1793250243799177472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768,745,719.195216695,684,665.195216695,640.804783305,884,787,817,653.804783305,630,655,0.400970968791,0.00451464076008,0.0598295819388,0.999999949775,0.000139258456335,-0.000283358163921,2.76667220228e-05,1793250243815844096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768,745,719.77164325,684,665.77164325,640.22835675,884,787,817,653.22835675,630,655,0.400966299358,0.00451460514522,0.0598304039669,0.999999950196,0.000137532908939,-0.000282697778926,2.7841559205e-05,1793250243832510720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768,745,719.655252291,684,665.655252291,640,884,787,817,653,630,655,0.400964955972,0.00451389672803,0.0598315089432,0.999999951245,0.000134716337115,-0.000280352844519,2.76507364421e-05,1793250243849177600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,719.084327368,684,665.084327368,640,884,787,817,653,630,655,0.400965794693,0.0045127469082,0.0598327995521,0.999999952687,0.000131183981448,-0.000276902734723,2.72200166544e-05,1793250243865844224
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae02313db865a5e9948946da979f6a9247e628ec
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a18357f396aa23802ba7de9793619b43f79a3bf3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3af548cb01110dfee2974cdcf0e55bf77a6dc64d90ff20c8470bc8e3f41e170
+size 25973239
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a388e6efc7375cf010e2f9a231d17d08837dc458
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+11,0.183333333,BASELINE,768,746,720,683.390097102,665.609902898,641,884,787,816,653.609902898,630,656,0.400963094278,0.00451420216096,0.0598402987919,0.999999955522,0.000132519815003,-0.000265940016574,2.59018445376e-05,1793250244510550784
+12,0.200000000,BASELINE,768,746,720,683.968337883,665.031662117,641,884,787,816,653.031662117,630,656,0.400964739204,0.00451357320502,0.0598411379088,0.999999955874,0.000132096185563,-0.000264792519111,2.62231368679e-05,1793250244527217408
+13,0.216666667,BASELINE,768.542358053,745.457641947,720,684,665.542358053,641,884,787,816.542358053,653,630,655.457641947,0.400962748851,0.0045151316603,0.0598402916431,0.999999955162,0.000134584725478,-0.000266246898288,2.59922568041e-05,1793250244543884288
+14,0.233333333,BASELINE,768.883788383,745,720,684,666,641,884,787,817,653,630,655.116211617,0.400961302342,0.00451622477424,0.0598395851553,0.999999954622,0.000136330442845,-0.000267400254117,2.5836999781e-05,1793250244560550656
+15,0.250000000,BASELINE,768.309627733,745,720,684,666,641,884,787,817,653,630,655.690372267,0.400962828766,0.00451498481515,0.0598398142107,0.999999955032,0.000134484188972,-0.000266773444859,2.61057925785e-05,1793250244577217280
+16,0.266666667,BASELINE,768,745,720,684,666,641,884,787,816.726827075,653.273172925,630,655.726827075,0.4009630935,0.00451403814646,0.0598398539812,0.999999955183,0.000133324359578,-0.000266774760371,2.62548748261e-05,1793250244593883904
+17,0.283333333,BASELINE,768,745,720,684,666,641,884,787,816.133913585,653.866086415,630,655.133913585,0.400961881466,0.00451343476528,0.0598396721993,0.999999955034,0.000132967969188,-0.000267511276784,2.6263839515e-05,1793250244610550528
+18,0.300000000,BASELINE,768,745,720,683.554322666,666,640.554322666,884,787,816,653.554322666,630,655,0.400962103134,0.00451200742444,0.0598398893977,0.999999955296,0.000131562047469,-0.000267218833025,2.63161269261e-05,1793250244627217664
+19,0.316666667,BASELINE,768,745,719.978628185,683.021371815,666,640.021371815,884,787,816.021371815,653,630,655,0.400962679497,0.00451048833552,0.0598402053402,0.999999955652,0.000129962393703,-0.000266666000554,2.63625868185e-05,1793250244643884288
+20,0.333333333,BASELINE,768,745,719.403181493,683.596818507,666,640.596818507,884,787,816.596818507,653,630,655,0.400961607273,0.00451282288465,0.0598400634685,0.999999955363,0.000131278567892,-0.00026714529371,2.59302817356e-05,1793250244660550912
+21,0.350000000,BASELINE,768,745,719.17677371,683.82322629,665.82322629,641,884,786.82322629,817,653,630,655.17677371,0.400960956049,0.00451393726913,0.0598400053823,0.999999955238,0.0001314952015,-0.000267534371837,2.56773891097e-05,1793250244677217280
+22,0.366666667,BASELINE,768,745,719.767280864,683.232719136,665.232719136,641,884,786.232719136,817,653,630,655.767280864,0.400961290167,0.00451219589538,0.0598401433934,0.999999955493,0.000129138393938,-0.000267712304387,2.58444058941e-05,1793250244693883904
+23,0.383333333,BASELINE,768,745,720,683.350262161,665.350262161,641,883.649737839,786.350262161,817,653,630.350262161,655.649737839,0.400961117859,0.00451270633117,0.0598399353889,0.999999955355,0.000129460315999,-0.000268076536514,2.5790964923e-05,1793250244710550272
+24,0.400000000,BASELINE,768,745,720,683.928348408,665.928348408,641,883.071651592,786.928348408,817,653,630.928348408,655.071651592,0.400960616152,0.004514681431,0.0598395023225,0.99999995496,0.000131524587403,-0.000268561945125,2.5594129699e-05,1793250244727216896
+25,0.416666667,BASELINE,768.508124569,745.508124569,720,684,666,641,883.508124569,787,817,653,630.491875431,655,0.400962225905,0.00451293476729,0.0598403808166,0.999999955618,0.000129962498137,-0.000266849875394,2.57948967925e-05,1793250244743884032
+26,0.433333333,BASELINE,769,745.913087278,719.913087278,684,666,641,884,787.086912722,816.913087278,653,630,655.086912722,0.400963492965,0.0045113438402,0.0598410895473,0.999999956147,0.000128620164717,-0.000265497432868,2.59644514513e-05,1793250244760550656
+27,0.450000000,BASELINE,769,745.341146897,719.341146897,684,666,641,884,787.658853103,816.341146897,653,630,655.658853103,0.400961180459,0.00451356057913,0.0598398153354,0.999999955161,0.000131367438589,-0.00026788697835,2.56458899865e-05,1793250244777217280
+28,0.466666667,BASELINE,768.76104292,745,719,684,666,641,884,787.76104292,816.23895708,653,630,655.76104292,0.400960114396,0.00451468523846,0.0598392950659,0.999999954721,0.00013283273433,-0.000268821678004,2.54772219232e-05,1793250244793883904
+29,0.483333333,BASELINE,768.168871976,745,719,684,666,641,884,787.168871976,816.831128024,653,630,655.168871976,0.400960890759,0.00451419564269,0.0598398892346,0.999999955102,0.000132403076863,-0.000267605900478,2.55301184686e-05,1793250244810550528
+30,0.500000000,BASELINE,768.413614365,745,719.413614365,684,666,641,884,787,817,653.413614365,630.413614365,655,0.400961931792,0.00451396078946,0.0598406843424,0.999999955379,0.000132313455491,-0.000266599405945,2.57060278897e-05,1793250244827217152
+31,0.516666667,BASELINE,768.992237093,745,719.992237093,684,666,641,884,787,817,653.992237093,630.992237093,655,0.400963078414,0.00451382756387,0.0598415596135,0.999999955612,0.000132359488992,-0.000265676403328,2.5931012378e-05,1793250244843884032
+32,0.533333333,BASELINE,769,745,720,683.432119767,666,641,884,787,816.432119767,654,630.432119767,655,0.400962343989,0.00451314511118,0.059840994687,0.99999995581,0.000130200635498,-0.000266010020964,2.58343764171e-05,1793250244860550656
+33,0.550000000,BASELINE,768.853759816,745,719.853759816,683.146240184,666,641,884,787,816.146240184,653.853759816,630,655.146240184,0.400961837624,0.0045126614596,0.0598405979192,0.999999955941,0.000129054178101,-0.000266072932487,2.583071813e-05,1793250244877217536
+34,0.566666667,BASELINE,768.267095865,745,719.267095865,683.732904135,666,641,884,787,816.732904135,653.267095865,630,655.732904135,0.400962095132,0.00451279902004,0.0598407665681,0.999999955888,0.000131046999945,-0.000265269108842,2.61202474879e-05,1793250244893883904
+35,0.583333333,BASELINE,768,745,719.314797469,684,666,641,884,787,816.685202531,653,630,655.685202531,0.400962205404,0.0045125743616,0.0598409238366,0.999999955946,0.000130621160112,-0.00026525631002,2.6161172403e-05,1793250244910550528
+36,0.600000000,BASELINE,768,745,719.892703574,684,666,641,884,787,816.107296426,653,630,655.107296426,0.400962192617,0.00451204695961,0.0598410715933,0.999999956095,0.000128173796074,-0.000265904651944,2.59943130377e-05,1793250244927217408
+37,0.616666667,BASELINE,768.471549532,745,720,683.528450468,666,640.528450468,884,787,816.471549532,653.471549532,630,655,0.400963016445,0.00451250839152,0.0598414794873,0.999999956176,0.000128758443723,-0.00026532991282,2.5858187519e-05,1793250244943884288
+38,0.633333333,BASELINE,768.949689253,745,720,682.949689253,666,640.050310747,884,787,816.949689253,653.949689253,630,655,0.400963835473,0.0045131191848,0.0598418299569,0.999999956209,0.000129888480106,-0.000264668864262,2.57232378471e-05,1793250244960550912
+39,0.650000000,BASELINE,768.374049958,745,720,682.374049958,666,640.625950042,884,787,816.374049958,653.374049958,630,655,0.400962612701,0.00451293549901,0.0598409615252,0.999999955907,0.000129495146654,-0.000266018321716,2.55273995216e-05,1793250244977217536
+40,0.666666667,BASELINE,768,745,719.794798112,682.410403775,666,641,883.794798112,787,816,653,630,655,0.400962232937,0.0045129484043,0.0598407423702,0.999999955799,0.000129742016514,-0.000266307380773,2.54744830455e-05,1793250244993884416
+41,0.683333333,BASELINE,768,745,719.208843199,683.582313602,666,641,883.208843199,787,816,653,630,655,0.40096341738,0.00451332608524,0.0598417279512,0.999999956052,0.00013117678652,-0.000264628865748,2.56867587158e-05,1793250245010551040
+42,0.700000000,BASELINE,768,745,719.374828104,683.625171896,666,641,883.374828104,787,816.374828104,653,630,655,0.400963914651,0.00451241726106,0.0598417154765,0.9999999562,0.000130975697814,-0.000264159041239,2.57802458141e-05,1793250245027217664
+43,0.716666667,BASELINE,768,745,719.957234732,683.042765268,666,641,883.957234732,787,816.957234732,653,630,655,0.400964031369,0.00451079597472,0.0598411502819,0.999999956291,0.000129868676091,-0.000264358585469,2.58079481998e-05,1793250245043884288
+44,0.733333333,BASELINE,768,745,720,683.53200859,666,641,884,787,816.46799141,653,630,655,0.400962315686,0.00451181223149,0.0598405449295,0.999999955926,0.000129349065523,-0.000266007516789,2.56276760653e-05,1793250245060551168
+45,0.750000000,BASELINE,768,745,719.894121084,684,666,641,884.105878916,787,816.105878916,653,630,655,0.400960923786,0.00451281744309,0.0598399842122,0.999999955523,0.000129519190867,-0.000267449403203,2.54949713729e-05,1793250245077217536
+46,0.766666667,BASELINE,768,745,719.321567273,684,666,641,884.678432727,787,816.678432727,653,630,655,0.400961599051,0.00451285269378,0.0598396342568,0.999999955119,0.000132524236703,-0.000267472450181,2.56445705536e-05,1793250245093884416
+47,0.783333333,BASELINE,768,745.260322787,719,683.739677213,665.739677213,641,884.739677213,787,816.739677213,653,630,655.260322787,0.400962099152,0.00451277999087,0.0598397152725,0.999999955126,0.000132732101822,-0.000267330607229,2.57642485059e-05,1793250245110551040
+48,0.800000000,BASELINE,768,745.854174653,719,683.145825347,665.145825347,641,884.145825347,787,816.145825347,653,630,655.854174653,0.400962374832,0.00451256897634,0.0598403484544,0.999999955661,0.000129356181556,-0.00026697750507,2.5845590996e-05,1793250245127217664
+49,0.816666667,BASELINE,768,745.563502891,719.436497109,683,665.436497109,641,884,787,816,653,630,655.563502891,0.40096149445,0.00451223221441,0.0598398550602,0.999999955686,0.000128472228193,-0.000267312376634,2.58386459267e-05,1793250245143884288
+50,0.833333333,BASELINE,768.014943022,745,720,683,666,641,884,787,816,653,630,655.014943022,0.400960270324,0.00451190156533,0.0598390132653,0.999999955544,0.000128445286229,-0.000267860872497,2.57936496546e-05,1793250245160550912
+51,0.850000000,BASELINE,768.588756117,745,720,683,666,641,884,787,816,653,630,655.588756117,0.400960263005,0.00451333027345,0.0598388551989,0.999999955291,0.000130135631568,-0.000268024150341,2.54002702379e-05,1793250245177217536
+52,0.866666667,BASELINE,768.832642078,745,719.832642078,683.167357922,666,641,884,787,816,653,630,655.832642078,0.400960486907,0.00451420631689,0.0598388378528,0.999999955029,0.000131898358341,-0.000268161524006,2.51947309724e-05,1793250245193884160
+53,0.883333333,BASELINE,768.241926525,745,719.241926525,683.758073475,666,641,884,787,816,653,630,655.241926525,0.400961295719,0.00451368430983,0.0598391764806,0.999999954744,0.000133844184999,-0.000268233369056,2.5464362314e-05,1793250245210550784
+54,0.900000000,BASELINE,768,745.341006402,719.341006402,684,666,641,883.658993598,787,816.341006402,653,630.341006402,655,0.400961692626,0.00451274942938,0.059839432646,0.99999995473,0.000134112812768,-0.000268125534869,2.57371287839e-05,1793250245227217408
+55,0.916666667,BASELINE,768,745.918541131,719.918541131,684,666,641,883.081458869,787,816.918541131,653,630.918541131,655,0.400961803827,0.00451152817236,0.0598396316141,0.999999954905,0.000133218104387,-0.000267893071849,2.60120698257e-05,1793250245243884288
+56,0.933333333,BASELINE,768.495697726,745.504302274,720,683.504302274,666,641,883.495697726,787,817,653,630.504302274,655,0.400961051427,0.00451234760879,0.0598397154069,0.999999954995,0.000132071329836,-0.000268140503665,2.58610088438e-05,1793250245260550912
+57,0.950000000,BASELINE,769,745,719.927256185,683.072743815,666,641,884,787.072743815,816.927256185,653.072743815,630,655.072743815,0.400960461247,0.00451348887512,0.059839822515,0.999999955092,0.000131214310005,-0.000268217434734,2.56742396467e-05,1793250245277217536
+58,0.966666667,BASELINE,769,745,719.350545785,683.649454215,666,641,884,787.649454215,816.350545785,653.649454215,630,655.649454215,0.400961977364,0.0045145382402,0.0598402221759,0.999999955342,0.000132651455915,-0.000266567206119,2.57247123122e-05,1793250245293884160
+59,0.983333333,BASELINE,769,745,719.230565653,684,666,641,884,787.769434347,816.230565653,654,630,655.769434347,0.400963199923,0.00451482939475,0.0598410288076,0.999999955728,0.000132737480673,-0.00026507832374,2.5659789066e-05,1793250245310550528
+60,1.000000000,BASELINE,769,745,719.818498609,684,666,641,884,787.181501391,816.818498609,654,630,655.181501391,0.400963967478,0.00451394535426,0.0598424662275,0.999999956326,0.000130729323299,-0.000263839521152,2.54160068989e-05,1793250245327217408
+61,1.016666667,BASELINE,769,745,720,684,666,641,884,787,816.600254756,654,630,655.399745244,0.400963336266,0.00451396376594,0.0598422652108,0.999999956066,0.000131051920237,-0.000264655667586,2.5500645351e-05,1793250245343883776
+62,1.033333333,BASELINE,769,745,720,684,666,641,884,787,816.021994088,654,630,655.978005912,0.400962080403,0.00451438518843,0.0598413325125,0.99999995542,0.000132415369195,-0.000266389498801,2.57319475926e-05,1793250245360550400
+63,1.050000000,BASELINE,768.449342807,745,720,684,666,641,884,787,816.550657193,653.449342807,630,656,0.400963219706,0.00451282137778,0.0598412820442,0.999999956029,0.000130064936176,-0.000265260206745,2.57237059129e-05,1793250245377217280
+64,1.066666667,BASELINE,768.124118422,745,720,684,666,640.875881578,884,787,816.875881578,653.124118422,630,655.875881578,0.400963830141,0.00451166410434,0.059841236361,0.999999956466,0.000128185395494,-0.000264526366928,2.57223495728e-05,1793250245393883904
+65,1.083333333,BASELINE,768.701346103,745,720,684,666,640.298653897,884,787,816.298653897,653.701346103,630,655.298653897,0.400962164162,0.00451227749463,0.0598410808044,0.999999956119,0.000128560969579,-0.000265649439293,2.57807050022e-05,1793250245410550784
+66,1.100000000,BASELINE,769,745,720,684,666,640.286986574,884,787,816.286986574,653.713013426,630,655,0.400961876149,0.00451259913781,0.0598410998297,0.999999955952,0.000129350275655,-0.000265891629373,2.57938065798e-05,1793250245427217408
+67,1.116666667,BASELINE,769,745,720,684,666,640.881646204,884,787,816.881646204,653.118353796,630,655,0.40096306543,0.00451260800422,0.059841306021,0.99999995598,0.000130583136208,-0.000265189441593,2.57583923267e-05,1793250245443884032
+68,1.133333333,BASELINE,768.536122993,745.463877007,720,684,666,641,884,787,817,653,630,655.463877007,0.400962461441,0.00451266892455,0.0598409587718,0.999999955769,0.000131483267583,-0.000265534225572,2.58162909466e-05,1793250245460550656
+69,1.150000000,BASELINE,768.042487691,745.957512309,720,684,666,641,884,787,817,653,630,656,0.400961524778,0.00451269447534,0.0598405464859,0.999999955559,0.00013207053219,-0.000266024384622,2.58832770149e-05,1793250245477217024
+70,1.166666667,BASELINE,768.614470764,745.385529236,720,684,666,641,884,787,817,653,630,656,0.400961995389,0.00451211804561,0.0598410375167,0.99999995611,0.000129789102388,-0.000265084125289,2.57745542892e-05,1793250245493883648
+71,1.183333333,BASELINE,769,745,720,683.808375063,666,641,884,787,816.808375063,653,630,655.808375063,0.400962288964,0.00451190048421,0.0598411368325,0.999999956363,0.00012826019741,-0.000264881738794,2.57100154897e-05,1793250245510550528
+72,1.200000000,BASELINE,769,745,720,683.220528538,666,641,884,787,816.220528538,653,630,655.220528538,0.400962216484,0.00451242495231,0.0598404262019,0.999999956007,0.000128287282515,-0.000266205046817,2.57368354761e-05,1793250245527217408
+73,1.216666667,BASELINE,769,745.351442748,720,683.351442748,666,641,884,787,816,653,630,655,0.400962492723,0.00451303308735,0.0598405820189,0.999999955909,0.000128986000917,-0.00026625565074,2.55436879327e-05,1793250245543884032
+74,1.233333333,BASELINE,769,745.913882906,720,683.913882906,666,641,884,787,816,653,630,655,0.400962978324,0.00451369145387,0.0598412580292,0.999999955964,0.000130087951097,-0.000265542154975,2.52184774016e-05,1793250245560550656
+75,1.250000000,BASELINE,768.497215674,745.497215674,719.497215674,683.497215674,666.502784326,641,884,787,816,653.502784326,630,655.502784326,0.400962167115,0.0045135843099,0.0598409569538,0.999999955632,0.000131600588806,-0.000266037415731,2.53277693564e-05,1793250245577217280
+76,1.266666667,BASELINE,768.092241169,745,719,683.092241169,666.907758831,640.907758831,884,787,816,653.907758831,630,656,0.400961388204,0.00451337490198,0.0598405893195,0.999999955336,0.00013279734782,-0.000266537237476,2.54942019504e-05,1793250245593884160
+77,1.283333333,BASELINE,768.659903077,745,719,683.659903077,666.340096923,640.340096923,884,787,816,653.340096923,630,656,0.400961984178,0.00451335174771,0.0598407891197,0.999999955603,0.000131983339807,-0.000265934200071,2.55502568923e-05,1793250245610550784
+78,1.300000000,BASELINE,768.760797192,745,719.239202808,684,666,640.239202808,884,787,816,653,630,655.760797192,0.400962502567,0.00451321896988,0.0598411217003,0.999999955864,0.00013133146328,-0.00026526643897,2.56462967274e-05,1793250245627217408
+79,1.316666667,BASELINE,768.164104732,745,719.835895268,684,666,640.835895268,884,787,816,653,630,655.164104732,0.400962905006,0.00451292235917,0.0598416527218,0.999999956116,0.000130921893049,-0.000264501948075,2.58020941565e-05,1793250245643884032
+80,1.333333333,BASELINE,768.419808694,745,720,683.580191306,666,641,883.580191306,787,816,653.419808694,630,655.419808694,0.400963240079,0.00451350833579,0.0598417199354,0.999999955984,0.00013219312748,-0.000264374922652,2.57581877165e-05,1793250245660550912
+81,1.350000000,BASELINE,768.998874366,745,720,683.001125634,666,641,883.001125634,787,816,653.998874366,630,655.998874366,0.400963549597,0.00451442912725,0.0598416112006,0.999999955702,0.00013410198533,-0.000264489723565,2.56385224142e-05,1793250245677217792
+82,1.366666667,BASELINE,768.427069314,745,720,683.572930686,666,641,883.572930686,787,816.572930686,653.427069314,630.572930686,656,0.400961322336,0.00451347911648,0.0598403805119,0.999999955339,0.000133344791672,-0.000266220729317,2.58224586355e-05,1793250245693884672
+83,1.383333333,BASELINE,768.147204534,745,720,683.852795466,666,641,884,787,817,653,630.852795466,656,0.400959964161,0.0045125880091,0.0598395672432,0.999999955151,0.000132399323074,-0.000267384878559,2.59526314866e-05,1793250245710551552
+84,1.400000000,BASELINE,768.722138935,745,720,683.277861065,666,641,884,787,817,653,630.277861065,656,0.400961145629,0.00451187864356,0.0598399732142,0.999999955478,0.000130921874795,-0.000266892775691,2.59248668404e-05,1793250245727217920
+85,1.416666667,BASELINE,768.691962327,745.308037673,720,683.308037673,666,641,884,787,817,653,630,655.691962327,0.400962015237,0.00451206560543,0.0598406510718,0.999999955875,0.000130278826989,-0.000265725329525,2.58494123188e-05,1793250245743884032
+86,1.433333333,BASELINE,768.095808371,745.904191629,720,683.904191629,666,641,884,787,817,653,630,655.095808371,0.400962593153,0.00451309092753,0.0598415832325,0.999999956336,0.00013041621745,-0.000263926215847,2.57293521198e-05,1793250245760550656
+87,1.450000000,BASELINE,768.482526077,745.517473923,720,684,666,641,884,787,816.517473923,653,630.482526077,655.482526077,0.400961972507,0.00451370136178,0.0598413632952,0.999999955931,0.000131218486887,-0.000265065775596,2.56699848944e-05,1793250245777217280
+88,1.466666667,BASELINE,769,745,720,683.942717286,666,641,884,787,816.057282714,653,630.942717286,655.942717286,0.400961278408,0.0045141353932,0.0598409765095,0.999999955423,0.000132128710373,-0.000266529725427,2.5638858869e-05,1793250245793884160
+89,1.483333333,BASELINE,769,745,720,683.369452771,666,641,884,787,816.630547229,653,630.369452771,655.369452771,0.400961989978,0.00451369605988,0.0598410739767,0.999999955504,0.000132864547009,-0.000265846975511,2.57574347231e-05,1793250245810550784
+90,1.500000000,BASELINE,768.789231749,745,720,683.210768251,666,641,884,787,816.789231749,653.210768251,630.210768251,655.210768251,0.400962287616,0.00451324385782,0.0598410594002,0.999999955647,0.000132164837727,-0.000265662066222,2.57343322833e-05,1793250245827217408
+91,1.516666667,BASELINE,768.196400621,745,720,683.803599379,666,641,884,787,816.196400621,653.803599379,630.803599379,655.803599379,0.400961834912,0.00451276832846,0.0598408417203,0.999999955894,0.000128862892011,-0.000266379600432,2.54544073892e-05,1793250245843884288
+92,1.533333333,BASELINE,768.386428789,745.386428789,720,683.613571211,666,641,884,787,816,654,631,655.613571211,0.400963084824,0.00451194881218,0.0598413680319,0.999999956359,0.000128510128256,-0.00026478244837,2.56341557431e-05,1793250245860550912
+93,1.550000000,BASELINE,768.964303174,745.964303174,720,683.035696826,666,641,884,787,816,654,631,655.035696826,0.400965178251,0.00451095887693,0.0598422629337,0.999999956928,0.000129618455911,-0.000262038548236,2.60416366358e-05,1793250245877217536
+94,1.566666667,BASELINE,769,746,720,683.539618941,666,641,884.539618941,787,816,653.460381059,630.460381059,655.539618941,0.400964030766,0.00451168848402,0.0598417508955,0.999999956532,0.000130621856374,-0.000263064426797,2.59019422548e-05,1793250245893884160
+95,1.583333333,BASELINE,769,746,720,684,666,641,884.886141816,787,816,653.113858184,630,656,0.400963064845,0.0045123666025,0.0598412637618,0.999999956222,0.000130888047694,-0.000264128205983,2.56831828004e-05,1793250245910550784
+96,1.600000000,BASELINE,769,746,720,684,666,641,884.315545071,787,816,653.684454929,630,656,0.400963683233,0.00451238402099,0.0598412481236,0.999999956519,0.000128224660545,-0.000264348371263,2.5291772885e-05,1793250245927217408
+97,1.616666667,BASELINE,768.733384105,746,720,684,666,641,884.266615895,787,816.266615895,653.733384105,630,655.733384105,0.400963179735,0.00451242468013,0.0598407426637,0.999999956371,0.000127818501456,-0.000265114005569,2.51819312647e-05,1793250245943884288
+98,1.633333333,BASELINE,768.136916138,746,720,684,666,641,884.863083862,787,816.863083862,653.136916138,630,655.136916138,0.400961288263,0.00451249409215,0.0598396312056,0.999999955675,0.000130204941788,-0.000266554483678,2.54204405619e-05,1793250245960550912
+99,1.650000000,BASELINE,768,745.556019435,719.556019435,684,666,641,884.556019435,787,817,653,630,655,0.40096021374,0.0045120887404,0.0598390472081,0.999999955614,0.000128581228186,-0.000267570297612,2.54036074425e-05,1793250245977217792
+100,1.666666667,BASELINE,768.04048928,745,719.02024464,684,666,641,884,787,817,653,630,655.02024464,0.400959484636,0.00451156274412,0.059838699245,0.999999955753,0.000125903682832,-0.000268328878823,2.53282665776e-05,1793250245993884160
+101,1.683333333,BASELINE,769.193379633,745,719.596689816,684,666,641,884,787,817,653,630,655.596689816,0.400961558495,0.00451160830951,0.0598405185935,0.999999956348,0.000127098032607,-0.000265496316394,2.57355733195e-05,1793250246010551040
+102,1.700000000,BASELINE,769.8275513,745,719.8275513,684,666,641,884,787,816.8275513,653.1724487,630,655.8275513,0.400962403654,0.00451230415136,0.0598412596199,0.999999956409,0.000129172825247,-0.000264246843838,2.5876454961e-05,1793250246027217664
+103,1.716666667,BASELINE,769.253391185,745,719.253391185,684,666,641,884,787,816.253391185,653.746608815,630,655.253391185,0.40096038661,0.00451451478272,0.0598394887438,0.999999955233,0.00013329856939,-0.000266685107646,2.53967113738e-05,1793250246043884544
+104,1.733333333,BASELINE,769,745.332937604,719.332937604,683.667062396,666,641,883.667062396,787,816.332937604,654,630,655,0.400961121806,0.00451480156757,0.0598399359514,0.999999955298,0.000134442202099,-0.000265873679234,2.52954185302e-05,1793250246060551168
+105,1.750000000,BASELINE,769,745.928879093,719.928879093,683.071120907,666,641,883.071120907,787,816.928879093,654,630,655,0.400964031131,0.00451356861113,0.0598421353328,0.999999956348,0.000133230117905,-0.000262495158439,2.54930825992e-05,1793250246077217536
+106,1.766666667,BASELINE,769,745.495917007,719.495917007,683.504082993,666,641,883.504082993,787,817,654,630,655,0.400964511908,0.00451196781493,0.0598424022955,0.999999956777,0.000130626514436,-0.000262143619884,2.57571668624e-05,1793250246093884416
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,884,787,816,654,630,655,0.400961634659,0.00451324440815,0.059841178517,0.999999955941,0.000130851584593,-0.000265248490296,2.52753217124e-05,1793250246137418752
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,719.403830399,684.403830399,666,641,884,787,816,653.403830399,630,655,0.400961484904,0.00451336286636,0.0598407169685,0.999999955632,0.000132461473036,-0.000265596868928,2.54531930543e-05,1793250246154085376
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,719.186932625,684,666,641,884,787,816,653.186932625,630.186932625,655,0.400961236618,0.00451336316093,0.0598402653166,0.999999955473,0.000132733174695,-0.000266059059052,2.54506703023e-05,1793250246170752000
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,719.766344248,684,666,641,884,787,816,653.766344248,630.766344248,655,0.400960781459,0.00451311536215,0.059839834443,0.99999995563,0.000130195253622,-0.000266760204962,2.50693967187e-05,1793250246187418368
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.656460364,745,720,683.656460364,666,641,884,787,816.343539636,653.656460364,631,655.343539636,0.40096190759,0.00451321154327,0.0598406479393,0.999999955959,0.000130051043744,-0.00026558300102,2.51836013235e-05,1793250246204084736
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.080762705,745,720,683.080762705,666,641,884,787,816.919237295,653.080762705,631,655.919237295,0.400964102329,0.00451354017995,0.0598423023588,0.999999956402,0.000131524461801,-0.000263136441352,2.56326413673e-05,1793250246220751616
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.503053717,745,720,683,666.503053717,641,883.496946283,787,817,653,630.496946283,655.496946283,0.400964581801,0.00451252829094,0.059842126398,0.999999956761,0.000129538667989,-0.000262738935732,2.57988120206e-05,1793250246237418240
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,720,683.087186433,666.912813567,641,883.087186433,787,817,653.087186433,630,655,0.400964703209,0.00451155605246,0.0598417484026,0.999999957023,0.000127485016843,-0.000262742054192,2.58568184239e-05,1793250246254085376
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,720,683.66563654,666.33436346,641,883.66563654,787,817,653.66563654,630,655,0.400964384165,0.00451203977758,0.0598419149602,0.999999956836,0.000128229589402,-0.000263118538602,2.5565443298e-05,1793250246270751488
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.755750931,745,719.755750931,684,666,641,884.244249069,786.755750931,816.755750931,653.755750931,630,655,0.400968203383,0.00451199950377,0.0598439920788,0.999999957536,0.000128215577048,-0.000260462849736,2.54677562672e-05,1793250246287418112
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.176915953,745,719.176915953,684,666,641,884.823084047,786.176915953,816.176915953,653.176915953,630,655,0.400977691422,0.00451124142712,0.0598486863897,0.999999959416,0.000127162412983,-0.00025365352186,2.56353939448e-05,1793250246304084992
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.397880418,745,719.397880418,683.602119582,666,641,884.602119582,786.397880418,816.397880418,653,630,655,0.401003887143,0.00451198670051,0.0598590910653,0.999999963739,0.000127951694023,-0.0002355736416,2.55910008439e-05,1793250246320751616
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.970899131,745,719.970899131,683.029100869,666,641,884.029100869,786.970899131,816.970899131,653,630,655,0.401037437223,0.00451339371577,0.0598720093195,0.999999968699,0.000129551979129,-0.000212532708917,2.54532764148e-05,1793250246337418240
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,720,683,666,641,884,787,816.440116076,653,630.559883924,655.559883924,0.401095059587,0.00451354843731,0.0598899003742,0.99999997456,0.000130871129344,-0.000181892449508,2.58380358746e-05,1793250246354085120
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,720,683.146957393,666,641,884,787,816.146957393,653.146957393,630.853042607,655.853042607,0.401159094574,0.00451301023296,0.0599074306314,0.999999979403,0.000130569872277,-0.000153163702281,2.61877607583e-05,1793250246370751488
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,720,683.725901571,666,641,884,787,816.725901571,653.725901571,630.274098429,655.274098429,0.401238193826,0.00451063209773,0.0599231182324,0.999999983158,0.000125549582279,-0.000131249072147,2.63523282e-05,1793250246387418112
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.695276953,745,719.695276953,684,666,641,884,787,817,654,630,655.304723047,0.401322245808,0.00451006868754,0.0599328975843,0.999999985331,0.000123152358919,-0.00011616237559,2.60260117538e-05,1793250246404084992
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.116565838,745,719.116565838,684,666,641,884,787,817,654,630,655.883434162,0.401410750972,0.00451113696571,0.0599373646041,0.999999986355,0.000123113634767,-0.000107214934872,2.52583229513e-05,1793250246420751616
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.45819306,745,719,683.54180694,666,640.54180694,884,787,816.54180694,653.54180694,630,655.54180694,0.401518027873,0.0045105245743,0.0599406969162,0.999999987413,0.000120308623197,-0.000100523744015,2.44069774309e-05,1793250246437418240
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,719.032891081,683.032891081,666,640.032891081,884,787,816,653,630.032891081,655,0.401631479817,0.00450957152569,0.0599438880329,0.999999988464,0.0001169714203,-9.40099549111e-05,2.35072109156e-05,1793250246454084864
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,719.623459025,683.623459025,666,640.623459025,884,787,816,653,630.623459025,655,0.401769352304,0.00451003007357,0.0599495378197,0.999999989707,0.000116441041074,-8.08550101423e-05,2.21442188095e-05,1793250246470751488
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884.209539725,787,816.209539725,653.209539725,630.790460275,655.209539725,0.401916647472,0.00451038034606,0.0599520367363,0.999999990517,0.00011495845375,-7.29631628673e-05,2.06581498975e-05,1793250246487418112
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884.787725883,787,816.787725883,653.787725883,630.212274117,655.787725883,0.402080520094,0.00451054012794,0.0599489922781,0.999999990808,0.000111800632281,-7.43307647096e-05,1.89555502329e-05,1793250246504084736
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.636181725,745,720,684,666.363818275,641,884.636181725,787,816.636181725,653.636181725,630,655.636181725,0.402264624611,0.0045106881036,0.059947841882,0.999999991352,0.00010894236943,-7.16767399285e-05,1.70101469625e-05,1793250246520751616
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.061303921,745,720,684,666.938696079,641,884.061303921,787,816.061303921,653.061303921,630,655.061303921,0.402460466142,0.00451082923021,0.0599477902753,0.99999999202,0.00010625788727,-6.66896751862e-05,1.49238874541e-05,1793250246537418240
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,745,719.486952726,684,666.486952726,641,884.513047274,787,816,653,630,655,0.402693104236,0.00450970448993,0.0599485358251,0.999999993106,9.94979320598e-05,-6.10800563436e-05,1.25789397103e-05,1793250246554085120
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745,719.090303276,684,666,641,884.909696724,787,816.090303276,653.090303276,630,655,0.402935719367,0.00450844323498,0.0599497379843,0.999999994162,9.25360879866e-05,-5.4852654255e-05,1.01987833208e-05,1793250246570751744
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745,719.684106183,684,666,641,884.315893817,787,816.684106183,653.684106183,630,655,0.403209473113,0.00450726331955,0.0599529554914,0.999999995132,8.71610119661e-05,-4.55950467825e-05,7.79448491517e-06,1793250246587418368
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.269834888,745.269834888,720,684,666,641,884.269834888,787,817,653.730165112,630,655,0.403496602465,0.00450696515487,0.0599511705533,0.999999995463,8.26309796873e-05,-4.71161164929e-05,5.16706747391e-06,1793250246604084992
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.846385771,745.846385771,720,684,666,641,884.846385771,787,817,653.153614229,630,655,0.403798935589,0.00450766925894,0.0599436994344,0.999999995018,7.90614922849e-05,-6.08890965633e-05,2.28603516867e-06,1793250246620751616
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.577489175,719.577489175,684,666.422510825,641,885,787,816.577489175,653,630,655.422510825,0.404119818325,0.00450679651052,0.0599314548156,0.999999994144,6.9700401885e-05,-8.27812031376e-05,-1.17861315601e-06,1793250246637417984
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.001518799,719.001518799,684,666.998481201,641,885,787,816.001518799,653,630,655.998481201,0.404447438434,0.00450535103575,0.0599174764209,0.999999992501,5.82357516981e-05,-0.000107622245659,-4.85523575489e-06,1793250246654084352
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,719,684,666.414201261,641,884.414201261,787,816,653,630,656,0.404806174529,0.00450666153771,0.0599038374994,0.999999989927,5.52935842449e-05,-0.000130452471734,-8.45570836414e-06,1793250246670750976
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.171192942,719.171192942,684,666,641,884.171192942,787.171192942,816.171192942,653,630.171192942,656,0.40519260726,0.00450703690677,0.0598966487505,0.999999988375,5.03096311295e-05,-0.00014344047611,-1.19564814875e-05,1793250246687417856
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.751914281,719.751914281,684,666,641,884.751914281,787.751914281,816.751914281,653,630.751914281,656,0.405645099134,0.00450515781627,0.0599048879834,0.999999990238,4.03874084007e-05,-0.000132896595744,-1.52192342491e-05,1793250246704084480
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.681257636,720,684.318742364,666.318742364,641,885,787.681257636,816.681257636,653,630.681257636,656,0.40613149914,0.00450439539915,0.0599259134827,0.99999999446,3.18564319484e-05,-9.85721994468e-05,-1.86914475981e-05,1793250246720751104
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.124791338,720,684.875208662,666.875208662,641,885,787.124791338,816.124791338,653,630.124791338,656,0.406643188503,0.00450446581744,0.0599564752162,0.999999998372,2.43630715183e-05,-4.65118544798e-05,-2.23198808205e-05,1793250246737417728
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,720,685,667.461619526,641,885.461619526,787.461619526,816,653,630.461619526,656,0.407202957996,0.0045013030946,0.059985669105,0.999999999601,1.15725619236e-05,5.67229662367e-07,-2.57684676286e-05,1793250246754084352
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.056482142,720,685.056482142,667.943517858,641,886,787.943517858,816.056482142,653,630.943517858,656,0.407772144245,0.0044964741355,0.0600110998483,0.999999998806,-3.03176591667e-06,3.93794319575e-05,-2.87875865593e-05,1793250246770750976
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.649399929,720,685.649399929,667.350600071,641,886,787.350600071,816.649399929,653,630.350600071,656,0.408298758097,0.00448469704476,0.0600045458944,0.999999999306,-2.03189839984e-05,1.3353912997e-05,-2.82216460545e-05,1793250246787417600
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,746,720,686,667,641,886,787.235582738,817,653,630.235582738,656,0.408847204815,0.00447061038621,0.0599935219871,0.999999998586,-4.18190413472e-05,-1.68511943243e-05,-2.81839513253e-05,1793250246804084480
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,720,686,667,641,886,787.812020937,817,653,630.812020937,656,0.409427240624,0.00445318210491,0.0599760306793,0.999999995763,-6.94144901829e-05,-5.31035831744e-05,-2.89105547959e-05,1793250246820751360
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.612366408,746,720,686,666.612366408,641.387633592,886,787.612366408,817,653,631,656,0.410079431691,0.00445310623224,0.0599769024061,0.999999995716,-7.30211284656e-05,-4.68055736197e-05,-3.2341375682e-05,1793250246837418240
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.037153258,746,720,686,666.037153258,641.962846742,886,787.037153258,817,653,631,656,0.410766539351,0.00446142735462,0.0599866601796,0.999999997,-6.50193538114e-05,-1.99170231025e-05,-3.70807929091e-05,1793250246854085120
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.070180654,746,720,686.535090327,667.070180654,641.464909673,886,787.535090327,817,653,630.464909673,656,0.411455824113,0.0044628387335,0.0599905446188,0.999999999328,-2.2396957103e-05,-8.56098439994e-06,-2.77269824502e-05,1793250246870751744
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.888365192,746,720,686.888365192,667.888365192,641.111634808,886,788,817,653.111634808,630,656,0.412141329874,0.0044639380224,0.0599888779347,0.999999999661,1.32693201713e-05,-9.53840277035e-06,-2.02474355936e-05,1793250246887418112
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.292266318,746,720,686.292266318,667.292266318,641.707733682,886,788,817,653.707733682,630,656,0.412809783244,0.00446575349833,0.0599648809171,0.999999997886,8.37355549998e-06,-5.93851363162e-05,-2.51248466608e-05,1793250246904084736
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,720,686.293136965,666.706863035,642,886,788,817,653.706863035,630.293136965,656,0.413501251757,0.00446667283559,0.0599373258879,0.999999993267,4.52040416423e-06,-0.000112243730326,-2.90939180911e-05,1793250246920751104
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,720,686.868251883,666.131748117,642,886,788,817,653.131748117,630.868251883,656,0.414214859362,0.00446673014823,0.0599063482891,0.999999985369,1.67017583249e-06,-0.000167999536348,-3.21892287216e-05,1793250246937417728
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.547451767,746,720,687.452548233,666.452548233,642,886,788,817.452548233,653,631,656,0.415049466358,0.00446574507018,0.0599384833822,0.999999993694,3.8891165267e-06,-0.000107094464635,-3.35778556637e-05,1793250246954084352
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.039035551,746,720,688,667.039035551,642,886.078071101,788,817.960964449,653,630.960964449,656,0.415918252506,0.00446466094004,0.0599878892922,0.999999999262,8.03494595268e-06,-1.52050385139e-05,-3.43572097448e-05,1793250246970751232
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.618089956,746,720,688,667.618089956,642,887.236179911,788,817.381910044,653,630.381910044,656,0.416762466425,0.00446649161389,0.0600167744424,0.999999998938,1.79989010791e-05,2.5749440987e-05,-3.37237628328e-05,1793250246987417856
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,720,688,668,641.802742401,887.802742401,788,817,653.197257599,630.197257599,656,0.417602388698,0.00446724038652,0.0600300440515,0.999999998094,2.51781776578e-05,4.51371933831e-05,-3.37826106286e-05,1793250247004084480
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,720,688,668,641.223355426,887.223355426,788,817,653.776644574,630.776644574,656,0.418433997104,0.00446589328929,0.0600130630779,0.999999998759,2.6962946805e-05,2.27456659089e-05,-3.51825787161e-05,1793250247020751360
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,720,688.353324685,667.646675315,641,887,788,817.353324685,654,630.646675315,656,0.419275849435,0.00446495621905,0.0599910769678,0.999999998879,2.58379774447e-05,-1.45501993194e-05,-3.69203849778e-05,1793250247037417728
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,720,688.92830663,667.07169337,641,887,788,817.92830663,654,630.07169337,656,0.420124128233,0.00446427637818,0.0599659509,0.99999999711,2.28875916e-05,-6.119625861e-05,-3.88701329711e-05,1793250247054084352
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.486189378,746,720,689.513810622,667,641.513810622,887.513810622,787.486189378,818,654,630,656,0.420947857594,0.00446669316598,0.059927461877,0.999999990744,-3.76200301258e-05,-0.000124466461002,-4.0064858423e-05,1793250247070751232
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.099462622,746,720,690.099462622,667,642,888,787.099462622,818,653.900537378,630,656,0.421782429374,0.004468826782,0.0598931232908,0.999999978537,-9.35442030306e-05,-0.000180232478083,-4.11390286291e-05,1793250247087417856
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.678599705,746,720,690.678599705,667,642,888,787.678599705,818,653.321400295,630,656,0.422686155339,0.0044674674116,0.0598879810443,0.99999997751,-8.78228552521e-05,-0.000188387767033,-4.21504936902e-05,1793250247104084736
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,720,691,667.254908051,642,888,788,818,653.254908051,630,656,0.423629759783,0.00446577696852,0.0599170062711,0.99999998569,-8.3585024581e-05,-0.000140775949925,-4.26218079583e-05,1793250247120751360
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,720,691,667.827689012,642,888,788,818,653.827689012,630,656,0.424623093214,0.00446367367429,0.059988638681,0.999999995525,-8.11971531023e-05,-2.36219886069e-05,-4.24195484577e-05,1793250247137417984
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.594637531,746,720,690.594637531,668,641.594637531,888,787.594637531,818,654,630,656,0.425589593079,0.00446213251795,0.0600255293427,0.999999995413,-7.71599561367e-05,3.70068424543e-05,-4.30212707765e-05,1793250247154084864
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.014859005,746,720,690.014859005,668,641.014859005,888,787.014859005,818,654,630,656,0.426544547156,0.00446083323384,0.0600474716043,0.999999993724,-7.24131012187e-05,7.33144946364e-05,-4.39689239594e-05,1793250247170751744
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.572740911,746,720,690,667.427259089,641,888,787,818,654,630,656,0.427476705198,0.00445911026958,0.0600269344837,0.999999995012,-6.97609108904e-05,5.41645052891e-05,-4.66351858099e-05,1793250247187418112
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,720,690.159049223,667.159049223,641.159049223,888,787,818,654,630,656,0.428395384885,0.00445813007447,0.0600029003892,0.999999996383,-6.48218075084e-05,2.57975213872e-05,-4.86555524815e-05,1793250247204084992
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,720,690.741372691,667.741372691,641.741372691,888,787,818,654,630,656,0.429279790574,0.00445915625216,0.0599725334005,0.999999997099,-5.36499671939e-05,-2.32164550515e-05,-4.88367108169e-05,1793250247220751616
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,720,691,667.683229163,641.683229163,888,787,818.316770837,653.683229163,630,656,0.430152306811,0.00445932245662,0.0599428895313,0.999999994862,-4.67595086738e-05,-7.50779333522e-05,-4.9536098251e-05,1793250247237417984
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,720,691,667.113364251,641.113364251,888,787,818.886635749,653.113364251,630,656,0.431015323553,0.00445880155823,0.0599138234228,0.999999989432,-4.32897960082e-05,-0.000129214510855,-5.06495411587e-05,1793250247254084608
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.464078045,720,691.464078045,667.464078045,641,888,787,819,653.464078045,630,656,0.431998994438,0.00445484693611,0.0599520435817,0.999999995945,-4.69167775884e-05,-5.69778217211e-05,-5.15936439554e-05,1793250247270751232
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.955613114,720,692,668.044386886,641,888.044386886,787,819,654,630.044386886,656,0.43300541445,0.00445044692687,0.0600035900124,0.999999996546,-5.12224118497e-05,3.92473295455e-05,-5.23734105154e-05,1793250247287417856
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.36314429,720,692,668.63685571,641,888.63685571,787,819,654,630.63685571,656,0.433922764906,0.00445107644613,0.0600133619444,0.999999996803,-4.21467990258e-05,4.41698950499e-05,-5.164324578e-05,1793250247304084480
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.776962244,746,720,691.776962244,668.330886732,641,888.776962244,787,819.223037756,654,631,656,0.43482064738,0.00444956178591,0.0600061189666,0.999999997523,-3.94947068186e-05,2.634274063e-05,-5.19619871941e-05,1793250247320751360
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.200735464,746,720,691.200735464,666.602206391,641,888.200735464,787,819.799264536,654,631,656,0.435687701686,0.0044446517336,0.0599719322141,0.999999997062,-4.70145096842e-05,-2.75094858752e-05,-5.39417123772e-05,1793250247337417728
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.374872677,746.374872677,720,691.374872677,666.374872677,641,888,787,820,654,631,656,0.436529563199,0.00444263689172,0.0599475575352,0.999999995007,-4.70642532531e-05,-6.89413029505e-05,-5.49287586239e-05,1793250247354084352
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.950150061,746.950150061,720,691.950150061,666.950150061,641,888,787,820,654,631,656,0.437357956742,0.00444216981244,0.0599284283347,0.999999992156,-4.31205470199e-05,-0.000103733239629,-5.53851244882e-05,1793250247370751232
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,747,720,692,666.461489811,641,888.538510189,787.538510189,819.461489811,654,631,656,0.438134626833,0.00444242316456,0.0599044264915,0.999999985491,-3.58324478822e-05,-0.000157401203788,-5.43911605561e-05,1793250247387417600
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,747,720.125146489,692.125146489,666.250292977,641.125146489,889,787.874853511,819,654,631,656,0.438938645398,0.00444139320235,0.0598941286371,0.99999998102,-3.09737657521e-05,-0.000184725494002,-5.36321006659e-05,1793250247404084224
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,720.701101902,692.701101902,667.402203804,641.701101902,889,787.298898098,819,654,631,656,0.439858857165,0.00443549420407,0.0599348612677,0.999999991755,-3.6009442831e-05,-0.00011070214838,-5.42148940362e-05,1793250247420750848
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,720.721112527,692.721112527,668,641.721112527,889,787,819.278887473,654,631,656,0.440731702061,0.00443281253912,0.0599718083237,0.999999996517,-3.80778262978e-05,-5.0548378603e-05,-5.44157475777e-05,1793250247437417728
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,747,720.141352561,692.141352561,668,641.141352561,889,787,819.858647439,654,631,656,0.441553446043,0.00443360183397,0.0600046713815,0.999999997834,-3.69450007784e-05,-5.35754435961e-06,-5.42045526604e-05,1793250247454084352
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,747,720,692,667.134596237,641,889,787,820,653.567298118,631,656,0.442276902067,0.0044374795488,0.0599756795571,0.999999996696,-3.17504688027e-05,-4.98443701417e-05,-5.58107046349e-05,1793250247470750976
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746.994914524,720,692,665.994914524,641,889,787,820,653.005085476,631,656,0.442968620675,0.00444233804995,0.0599268044132,0.999999990417,-2.52588131559e-05,-0.000123143548005,-5.79886262571e-05,1793250247487417600
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,746.40306669,720,692,665.40306669,641,889,787,820,653.59693331,631,656,0.443654894736,0.00444546686497,0.0598848649151,0.999999981026,-2.02052451136e-05,-0.00018469939743,-5.85299474103e-05,1793250247504084480
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,746.184717061,720,692,665,641,889,787,820,654,631,656,0.444335103599,0.00445192798802,0.0598538364547,0.999999970974,-3.47558893675e-05,-0.000231061110768,-5.87833925098e-05,1793250247520751104
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,746.763823698,720,692,665,641,889,787,820,654,631,656,0.445002362783,0.00446550392574,0.0598461041534,0.99999996413,-9.11635053921e-05,-0.000244981821812,-5.84221935405e-05,1793250247537417728
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.340191482,747,720,692.340191482,664.659808518,640.659808518,889,787,820,654,631,656,0.445622359654,0.00448306084074,0.0598271043587,0.999999953372,-9.57211009512e-05,-0.000284030288454,-5.84757358837e-05,1793250247554084352
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.914672983,747,720,692.914672983,664.085327017,640.085327017,889,787,820,654,631,656,0.44620980691,0.00450335945568,0.0598003446368,0.999999938255,-6.45695618213e-05,-0.000340384249728,-5.88149106695e-05,1793250247570750976
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.499602942,747,720,693,664,640,889.500397058,786.499602942,820,654,631,656,0.446790924912,0.00450543553732,0.0597821751894,0.999999931307,-5.79114969391e-05,-0.000361211010465,-5.96594861828e-05,1793250247587417600
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769.176105658,746.176105658,720,693,663,639,889.176105658,786,820,654,630.176105658,656,0.449039010022,0.00450352029301,0.0597833366286,0.999999934443,-5.81423631952e-05,-0.000351772849697,-6.31621450104e-05,1793250247654084608
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,746,720,692.599558763,662.599558763,638.599558763,889,786,820,654,630.400441237,656,0.44948663846,0.00450360070363,0.0597493894246,0.999999914728,-5.79638263308e-05,-0.000403731693534,-6.4692599467e-05,1793250247670751232
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769,747,720.853626776,693.146373224,661.853626776,638,890,786,820,654,630.853626776,656,0.450714792871,0.00450502514513,0.059666298256,0.999999858976,-5.70074562878e-05,-0.000523368677798,-6.98820348696e-05,1793250247720751360
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769.383488956,747,720,693,660,637.383488956,890,786,820,654,630.383488956,656,0.452756404534,0.0045106010704,0.05969128097,0.999999885494,1.30235298907e-05,-0.000475350491802,-5.3711575513e-05,1793250247820751360
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+249,4.150000000,HOLD_POSE2,769,747,720,693,657,635.85025222,890,786,820.14974778,654,630.14974778,656,0.454785644542,0.00457822407482,0.0596249862196,0.999999828679,6.99269478467e-05,-0.0005765022846,-7.34676830439e-05,1793250248525606400
+250,4.166666667,HOLD_POSE2,769,747,720,693,657,635.27790482,890,786,820.72209518,654,630.72209518,656,0.45478692302,0.00457855495694,0.0596248440513,0.999999829468,7.08698476985e-05,-0.00057499827825,-7.36130858679e-05,1793250248542272768
+251,4.183333333,HOLD_POSE2,769,746.694017128,720,693.305982872,657,635,890,786,820.694017128,654,630.694017128,656,0.454786869343,0.00457841720916,0.0596247973698,0.999999829474,7.03011865736e-05,-0.000575051871221,-7.36511898528e-05,1793250248558939136
+252,4.200000000,HOLD_POSE2,769,746.099237356,720,693.900762644,657,635,890,786,820.099237356,654,630.099237356,656,0.454785558333,0.00457783715274,0.0596248408118,0.99999982874,6.83058634303e-05,-0.000576575578779,-7.35880215847e-05,1793250248575605504
+253,4.216666667,HOLD_POSE2,769,746,720,694,657,635.482029727,890,786,820,654,630.482029727,656,0.454785551444,0.00457778878349,0.0596244012628,0.999999828417,6.86572264918e-05,-0.000577126136582,-7.33347130971e-05,1793250248592272384
+254,4.233333333,HOLD_POSE2,769.059942102,746.059942102,720,694,657,636,890,786,820,654,631,656,0.454785880589,0.00457795271723,0.0596239348882,0.999999828231,6.94198934227e-05,-0.000577383980349,-7.3126645565e-05,1793250248608939008
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+256,4.266666667,HOLD_POSE2,769.793534251,746.793534251,720,693.793534251,657.206465749,635.793534251,890,786,820,654,631,656,0.454787677235,0.00457937191108,0.059624471233,0.999999828929,7.00027940761e-05,-0.000576021724429,-7.37629874774e-05,1793250248642272512
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.160515964,747,720,693.839484036,657,635.839484036,889.839484036,786,820,654,631,656,0.454786082308,0.00457805191708,0.0596230541816,0.999999827604,6.88989178984e-05,-0.000578539391041,-7.30522220682e-05,1793250248812855040
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.735212072,747,720,693.264787928,657,635.264787928,889.264787928,786,820,654,631,656,0.454787346545,0.00457802295439,0.059623515428,0.999999828236,6.99357461518e-05,-0.000577331070197,-7.29718749281e-05,1793250248829521408
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746.118503903,720,693.881496097,657,635,889.881496097,786,820,654,631,656,0.454786502314,0.00457525711958,0.0596235128088,0.999999827943,6.54595007621e-05,-0.000578434321197,-7.24009183787e-05,1793250248862856192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,746,720,693.526788596,657,635.473211404,890,786,820,654,630.526788596,656,0.454787463456,0.00457742641515,0.0596241041978,0.999999828556,6.88742615302e-05,-0.0005769326443,-7.27492637868e-05,1793250248879522560
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.357196333,746.642803667,720,693.642803667,657,636,890,786.642803667,820,654,630.642803667,656,0.45478644966,0.00458078928343,0.0596233220199,0.999999828145,7.09061606074e-05,-0.000577273972311,-7.37297214114e-05,1793250248912855296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,747,720.217346407,694,657,636,890,786.782653593,820,654,630.782653593,656,0.454781839467,0.00458010567387,0.0596210074583,0.999999826195,6.91785370716e-05,-0.000580846215645,-7.37675408171e-05,1793250248929522176
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,720.299753032,693.299753032,657.700246968,636,890,786,820,654,631,656,0.45453196178,0.00458109090882,0.0595391421172,0.99999974608,7.55171760908e-05,-0.000704736287936,-7.40476910066e-05,1793250249029521664
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,746.5526716,720,693.5526716,658,636,890,786,820,654,630.5526716,656,0.454282117299,0.00458104675086,0.0595283934026,0.999999733648,7.93070732387e-05,-0.000721956554404,-7.20568657097e-05,1793250249079521792
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,747,720.181492736,693.818507264,657.818507264,636,890,786,820,654,631,656,0.453916344578,0.00458306715229,0.0595302344641,0.99999973415,8.69893323666e-05,-0.000720631074575,-6.94459309756e-05,1793250249129521920
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,747,720,693,658,636,890,786,819.337507821,654,631,656,0.452700963476,0.00458837542704,0.0595289992458,0.999999731516,0.000115123371893,-0.000721204957402,-5.9817958822e-05,1793250249229522176
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,769,747,720,692,662.52512918,639,889.47487082,787,819,654,630.47487082,656,0.444886083729,0.00461671912853,0.0596528615113,0.99999981365,0.00028846712033,-0.000538035012197,2.05708623889e-06,1793250249512855552
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,746.891366127,720,692,663.108633873,639.108633873,889,787,819,654,630,656,0.444183583951,0.00461623116669,0.0596371295441,0.999999801838,0.000298133976746,-0.000554435973484,6.4001319797e-06,1793250249529522432
+309,5.150000000,POSE2_TO_POSE3_RETREAT,769,746.314271124,720,692,663.685728876,639.685728876,889,787,819,654,630,656,0.44350763733,0.00461290766472,0.0596699250457,0.999999830373,0.000303365299973,-0.000497092447471,1.10898536386e-05,1793250249546188800
+310,5.166666667,POSE2_TO_POSE3_RETREAT,769,746,720,692,664,640,889,787,819,654,630,656,0.442822137793,0.00461212747864,0.0597062414118,0.999999854523,0.000311816369362,-0.000439848410765,1.60826024652e-05,1793250249562855424
+311,5.183333333,POSE2_TO_POSE3_RETREAT,769,746,720,692,664,640,889,787,819,654,630,656,0.442125215284,0.00461438845771,0.0597467678499,0.999999874006,0.000324117445527,-0.000382723331028,2.14376961236e-05,1793250249579522048
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,769,746,720,691.984069587,665,640,889,787.015930413,819,654,630,656,0.440598360944,0.00461602274571,0.0597641777604,0.999999868645,0.000343747524042,-0.000378832231223,3.21570971771e-05,1793250249612855296
+314,5.233333333,POSE2_TO_POSE3_RETREAT,769,746,720,691.406969789,665,640,889,787.593030211,819,654,630,656,0.439794056849,0.00461483811498,0.0597792208878,0.999999872982,0.000352926515389,-0.000357885540435,3.73819940274e-05,1793250249629521920
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,769,746.745207576,720,691.745207576,665.745207576,640.745207576,889,788,819,654,630,656,0.438144667072,0.00461971259726,0.0598213710114,0.999999884992,0.00037986120039,-0.000288930173613,4.73371326403e-05,1793250249662855424
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769.326929367,747,720,692,665.673070633,641,889,788,819,654,630,656,0.437264455398,0.00462310515842,0.0598014957428,0.999999889782,0.000337401352282,-0.00032475773355,3.35855765765e-05,1793250249679522048
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769.913563396,747,720,692,665.086436604,641,889,788,819,654,630,656,0.4363489646,0.00462568960983,0.0597464808371,0.999999879908,0.000248658969115,-0.000422288195094,5.06306798354e-06,1793250249696188416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,769.505656036,746.505656036,720,691.505656036,665,641,889,788,819,654,630,656,0.435477605539,0.00461738687864,0.059731178458,0.999999882886,0.00023731830727,-0.000421753851495,5.55870340272e-06,1793250249712855040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,746,720,691,665.147638552,641,888.926180724,788,818.926180724,653.926180724,630,656,0.434610874549,0.00460943101346,0.0597269731713,0.999999890252,0.000241464135387,-0.000401336588795,1.09249997385e-05,1793250249729521664
+321,5.350000000,POSE2_TO_POSE3_RETREAT,769,746,720,691,666.302580262,641,888.348709869,788,818.348709869,653.348709869,630,656,0.433723688552,0.0046166778112,0.0597516593662,0.999999900961,0.00026001341382,-0.000360882008207,1.53100520627e-05,1793250249746189312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,746,720,690.772366557,666.544733114,641,888,788,818,653,630,656,0.432821053286,0.00461535821576,0.0597731703088,0.999999909642,0.000266509063693,-0.000330619040107,1.95168876046e-05,1793250249762856192
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,746,720,690.197741918,665.395483837,641,888,788,818,653,630,656,0.431894867916,0.00460098050934,0.059789841085,0.999999917413,0.000254630865881,-0.000315891568611,2.34520605359e-05,1793250249779522048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,769,746,720,690,665.384818709,641,888,787.615181291,818,653.384818709,630.384818709,655.615181291,0.431010546594,0.00457837322591,0.0598128263683,0.999999935652,0.000224516050016,-0.000278622769429,2.5665816685e-05,1793250249796188672
+325,5.416666667,POSE2_TO_POSE3_RETREAT,769,746,720,690,665.971543137,641,888,787.028456863,818,653.971543137,630.971543137,655.028456863,0.430148190452,0.00455144806945,0.0598391247303,0.999999956213,0.000184832890962,-0.000229527042768,2.69763838613e-05,1793250249812855296
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746,720,689.288996493,665.288996493,641,888,788,818,653.711003507,630,655.711003507,0.427235268709,0.00456805268995,0.0597422529047,0.999999901853,0.000199191309641,-0.000394811422378,2.71997738973e-05,1793250249862855168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769.715400901,746,720,689,665.569198199,641,887.715400901,788,818,653.715400901,630.284599099,656,0.426310451173,0.00456794843332,0.059743358983,0.999999907011,0.000193165426342,-0.000384612061422,2.7179795468e-05,1793250249879521792
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.554305715,746,720,688.554305715,666.10861143,641,887,788,818,653,631,656,0.42449761557,0.00456794583345,0.0598053509313,0.999999935436,0.000186165157422,-0.000305833050938,3.05913965212e-05,1793250249912854784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.037986864,746,720,687.962013136,665.037986864,641,887,788,818,653,630.962013136,656,0.423610593183,0.00457213180695,0.0598336433837,0.9999999434,0.000191743002993,-0.000274531708338,3.2651863517e-05,1793250249929521408
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.616408077,746,720,687.383591923,665.616408077,641,887,788,818,653,630.383591923,656,0.422735454593,0.00456593207099,0.0598464676486,0.999999954098,0.000175856308667,-0.00024442645536,3.36865173928e-05,1793250249946188288
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,720,687.192641117,666,641,887,787.807358883,818,653,630,655.807358883,0.421833061261,0.00456374282136,0.0598415533078,0.999999954367,0.000166519241087,-0.000249711703048,3.43698224265e-05,1793250249962855168
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746,720,687.764566053,666,641,887,787.235433947,818,653,630,655.235433947,0.420877006937,0.00456944966562,0.059801714099,0.999999932239,0.000170077483025,-0.000324675964624,3.43613701186e-05,1793250249979521792
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,720,687.654881461,665.309762922,641,887,787,818,653,630,655.345118539,0.419947447247,0.00457189579178,0.0597558124012,0.999999906372,0.000166793135383,-0.000397929056631,3.29782242498e-05,1793250249996188160
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746,720,687.068292539,664.136585077,641,887,787,818,653,630,655.931707461,0.419036425214,0.00457206047873,0.0597056689415,0.999999876492,0.00015872120696,-0.00046998488305,3.06332413333e-05,1793250250012854784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,720,687.514741671,665.029483341,641,886.485258329,787.514741671,818,653,630.514741671,655.485258329,0.418210594087,0.00456913592213,0.059731020798,0.999999900119,0.000150003204295,-0.000419886068713,3.09229844205e-05,1793250250029521408
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,720,687.327258875,666,641,885.327258875,787.327258875,818,653,630.327258875,655.672741125,0.416618377317,0.00456761539397,0.0598107375927,0.999999944252,0.000140392412246,-0.000301055463095,3.39445381723e-05,1793250250062854912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.750532006,641,885,787,818,653,630.249467994,656,0.415830168323,0.00456562034137,0.0598364396556,0.999999953004,0.000135627868812,-0.000272598809076,3.58683600517e-05,1793250250079521536
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.173447393,641,885,787,818,653,630.826552607,656,0.415034994768,0.00455959347315,0.0598392774152,0.999999952444,0.000127169747319,-0.000278444705535,3.75155035256e-05,1793250250096188160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,745.589335805,720,686.589335805,665,641,885,787,817.589335805,653,630.589335805,656,0.414263636527,0.00456040811294,0.0598388666825,0.999999942187,0.000195559300891,-0.000275660120957,3.73312405456e-05,1793250250112854784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,745.002204595,720,686.002204595,665,641,885,787,817.002204595,653,630.002204595,656,0.413502511926,0.00456416262499,0.0598370600364,0.999999919018,0.000296971160459,-0.00026916691991,3.63600014732e-05,1793250250129521408
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.580267201,745.580267201,720,686,665,641,885.580267201,787,817,653,630.580267201,655.419732799,0.41269951808,0.0045621949372,0.0597988029807,0.999999900079,0.000285280326601,-0.000342226771507,3.6569919802e-05,1793250250146188032
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.691849977,746,720,686.154075011,665,641,885.845924989,787.154075011,817,653,631,655.154075011,0.411925420205,0.00456002680102,0.0597640011498,0.999999881287,0.000271464747357,-0.000403035148093,3.59931249086e-05,1793250250162854656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768.588840266,746,720,686.705579867,665,641,885.294420133,787.705579867,817,653,631,655.705579867,0.411226265123,0.00455739724775,0.0597384662855,0.999999874288,0.00025326806457,-0.000431467978056,3.337555445e-05,1793250250179521280
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.877539145,745.122460855,720,686.122460855,665.877539145,641,885,787.122460855,817,653,631,656,0.409970033937,0.0045583238041,0.0597869417846,0.999999910025,0.000234594386112,-0.00035182298259,3.37144080287e-05,1793250250212856064
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745,720,686,665.939506461,640.060493539,885.060493539,788,817,653.060493539,630.060493539,656,0.408803807947,0.00455059364819,0.0598621553275,0.99999995126,0.000206652779006,-0.00023123002728,3.61428999212e-05,1793250250246190336
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745,720,686,665.361231648,640.638768352,885.638768352,788,817,653.638768352,630.638768352,656,0.408213429046,0.00454899613491,0.0598514615244,0.999999949465,0.000195555523139,-0.000248121576899,3.55614183789e-05,1793250250262856448
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745,720,685.784553065,664.784553065,641,885.784553065,787.784553065,817,654,631,656,0.407642173177,0.00454812912551,0.0598390039486,0.999999946375,0.00018606357275,-0.000267230439094,3.49045651076e-05,1793250250279522560
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745,720,685.210531196,664.210531196,641,885.210531196,787.210531196,817,654,631,656,0.407102744415,0.00454847791626,0.0598236108728,0.999999941295,0.000179243382589,-0.000290029640889,3.41222684231e-05,1793250250296188928
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.962894373,641,885,787,817,654,630.037105627,656,0.40611607437,0.00454307183948,0.0598216353822,0.999999946554,0.000161325501565,-0.000282459253366,3.28994098391e-05,1793250250329521408
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.303417143,665.303417143,640.303417143,885,787,817,653,630,655.696582857,0.404806201495,0.00453900814313,0.0598066661763,0.999999944344,0.000136561520486,-0.000302803037058,3.11848116009e-05,1793250250379522048
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745.395721252,719.395721252,684,665.604278748,640.395721252,884.604278748,787,817,653,630,655,0.403139575214,0.00453412235795,0.0597953564381,0.999999942123,0.000129882273729,-0.000312651278789,3.36596625877e-05,1793250250462855168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745,719.180768957,684,665.638462086,640.180768957,885,787,817,653,630,655.180768957,0.402896924741,0.00453307737161,0.0598150510797,0.999999950727,0.000130432560272,-0.00028340284516,3.48788918905e-05,1793250250479521792
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,719.672283346,684,664.327716654,641,885,787,817,653.327716654,630,656,0.402464931419,0.00452960355931,0.059835769427,0.99999995711,0.000144787513986,-0.000252912614869,2.91891431048e-05,1793250250512855552
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,719,684.337891135,665,640,884.662108865,787,817,653,630,655,0.401735126174,0.00452138159078,0.0598237733629,0.999999942513,0.000173727448121,-0.000290343577689,2.2228856314e-05,1793250250579522048
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.582377257,745,720,684,665,641,884,787,817,654,630,656,0.400960075462,0.00451661685513,0.0598322001729,0.999999948009,0.000160582651039,-0.000278562288386,2.44603151707e-05,1793250250946188800
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.009167984,745,720,684,665,641,884,787,817.009167984,653.990832016,630.009167984,655.990832016,0.400960125552,0.00451763257142,0.059833144971,0.999999948276,0.000160264090625,-0.000277792815159,2.43783484827e-05,1793250250962855680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.588762766,745,720,684,665,641,884,787,817.588762766,653.411237234,630.588762766,655.411237234,0.400961889965,0.00451672559278,0.0598337872233,0.999999948896,0.000160490756347,-0.000275407106224,2.4530719126e-05,1793250250979522304
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.832385603,745,720,684,665.167614397,641,884,787,817.832385603,653,630.832385603,655,0.400963171988,0.00451636223403,0.0598344511813,0.999999949357,0.000160889418626,-0.00027348453599,2.4627325968e-05,1793250250996188928
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.255349257,745,720,684,665.744650743,641,884,787,817.255349257,653,630.255349257,655,0.400963275703,0.00451732674403,0.0598351681584,0.999999949442,0.00016170820689,-0.000272693247897,2.45877218033e-05,1793250251012855296
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.320325824,745,720,684,666,641,884,787,817,653,630.320325824,655,0.400962777417,0.00451714922094,0.0598352612179,0.999999949463,0.000161384348182,-0.000272811586576,2.45486105328e-05,1793250251029521664
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.894920331,745,720,684,666,641,884,787,817,653,630.894920331,655,0.400961801272,0.00451606517317,0.059834859023,0.999999949432,0.000160153477514,-0.000273651970111,2.45098905146e-05,1793250251046188544
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768.515612532,745.484387468,720,684.484387468,665.515612532,641,884,787,817,653,630.515612532,655.484387468,0.40096216192,0.00451633234267,0.0598353747864,0.99999994953,0.00016045197887,-0.000273139711251,2.42829265881e-05,1793250251062854912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.07505058,745.92494942,719.92494942,685,665.07505058,641,884,787,817,653,630,655.92494942,0.400962709136,0.00451670308603,0.0598359871453,0.9999999497,0.000160648225846,-0.000272420752099,2.40547395105e-05,1793250251079521536
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768.651466903,745.348533097,719.348533097,685,665.651466903,641,884,787,817,653,630,655.348533097,0.400962504057,0.00451574553727,0.0598358723586,0.999999950162,0.00015787481254,-0.00027234329306,2.40998247609e-05,1793250251096188416
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,719.226170775,684.773829225,665.773829225,640.773829225,884,787,817,653,630,655,0.400961944562,0.00451526605135,0.0598357429288,0.999999950257,0.000156701472458,-0.000272657188977,2.42634839159e-05,1793250251112855296
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745,719.798255647,684.201744353,665.201744353,640.201744353,884,787,817,653,630,655,0.40096084301,0.00451551773261,0.059835591103,0.999999949799,0.000157975344178,-0.000273569637888,2.46084944714e-05,1793250251129521920
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.617324269,745,719.617324269,684,665,640,884,787,817,653.382675731,630,655,0.400959982693,0.00451540776795,0.0598348853671,0.999999949634,0.000157453349472,-0.000274479725255,2.45032542014e-05,1793250251146188800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.02618457,745,719.02618457,684,665,640,884,787,817,653.97381543,630,655,0.400959253791,0.00451510079537,0.0598338778867,0.999999949628,0.000155953050048,-0.000275388526105,2.41527381672e-05,1793250251162855424
+407,6.783333333,POSE2_TO_POSE3_RETREAT,768.553600072,745,719.553600072,684,665,640,884,787,817,653.446399928,630,655,0.400961058298,0.00451505611169,0.059835145162,0.999999949959,0.000156978714106,-0.000273568234149,2.45074398166e-05,1793250251179522048
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..573ba5b4f02b3615f4ba7c592f2cd84e93501fc9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.575666122544,0.0101499890338,1.0500336194,0.5462368036,0.0188226313927,1.04970500891
+393,6.550000000,pose2_to_pose3_retreat,0.575665958888,0.0101499900389,1.05003358721,0.546236639739,0.0188226317368,1.04970497761
+394,6.566666667,pose2_to_pose3_retreat,0.575665953682,0.0101499900708,1.05003358618,0.546236634527,0.0188226317478,1.04970497662
+395,6.583333333,pose2_to_pose3_retreat,0.575665676572,0.0101499917726,1.05003353167,0.54623635707,0.0188226323306,1.04970492362
+396,6.600000000,pose2_to_pose3_retreat,0.575665379371,0.0101499935977,1.0500334732,0.546236059497,0.0188226329556,1.04970486678
+397,6.616666667,pose2_to_pose3_retreat,0.57566519505,0.0101499947296,1.05003343694,0.546235874946,0.0188226333432,1.04970483153
+398,6.633333333,pose2_to_pose3_retreat,0.575665165136,0.0101499949133,1.05003343106,0.546235844995,0.0188226334061,1.04970482581
+399,6.650000000,pose2_to_pose3_retreat,0.575665114225,0.010149995226,1.05003342104,0.54623579402,0.0188226335132,1.04970481607
+400,6.666666667,pose2_to_pose3_retreat,0.575665029348,0.0101499957472,1.05003340434,0.546235709036,0.0188226336917,1.04970479984
+401,6.683333333,pose2_to_pose3_retreat,0.575664937738,0.0101499963098,1.05003338632,0.546235617312,0.0188226338844,1.04970478232
+402,6.700000000,pose2_to_pose3_retreat,0.575664866225,0.0101500315406,1.05003339997,0.546235544978,0.0188226662964,1.0497047951
+403,6.716666667,pose2_to_pose3_retreat,0.575664726703,0.0101501352436,1.05003345446,0.546235403119,0.0188227619572,1.04970484662
+404,6.733333333,pose2_to_pose3_retreat,0.575664492826,0.0101502717919,1.05003355459,0.546235166668,0.0188228896303,1.04970494298
+405,6.750000000,pose2_to_pose3_retreat,0.575664360952,0.010150253977,1.05003363344,0.546235036761,0.0188228785219,1.04970502272
+406,6.766666667,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+407,6.783333333,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56c0098674cc01eff31a515edb278bd8860c34ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f607362770238a8a47acbf67f51c712b7b2fcb6015c182c990eafbaddc0ce4a0
+size 26039180
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4710411ad0a043442d6d4d17c01a7594e398539
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+0,0.000000000,BASELINE,768,745,720,684,665,641,884,787,817,654,630,656,0.400961277467,0.00451545348058,0.0598364356044,0.999999950014,0.000160859249535,-0.000271114196373,2.43605234936e-05,1793250251336316672
+1,0.016666667,BASELINE,768.571632718,745,720,684,665.571632718,641,884,787,817,653.428367282,630,655.428367282,0.400960175855,0.00451624760459,0.0598354923026,0.999999949691,0.000160950705181,-0.00027226893681,2.41311545864e-05,1793250251352983040
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+4,0.066666667,BASELINE,769,745,720,683.331115374,666,640.331115374,884,787,817,653,630,655,0.400962290717,0.00451601915715,0.0598370905874,0.99999995094,0.000158643152023,-0.000268994592801,2.4385889006e-05,1793250251402982656
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+6,0.100000000,BASELINE,769,745,720,684,666,641,884,787,817,653,630,655.481502419,0.400961231999,0.00451710063866,0.0598365033453,0.99999995043,0.000159452776734,-0.000270436255779,2.40823673592e-05,1793250251436315904
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+16,0.266666667,BASELINE,768.293391604,745,720,684,665.706608396,641,884.413216793,787,817,653.706608396,630,655,0.400962837748,0.00451522938517,0.0598387350667,0.999999951834,0.000154901795805,-0.000267897684173,2.38540635805e-05,1793250251602982400
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+21,0.350000000,BASELINE,768.799366797,745,720,684.799366797,665,641,884,787,816.200633203,653,630,655,0.400961910208,0.004516521194,0.0598375107134,0.999999950815,0.000158520010064,-0.000269551232415,2.41515720182e-05,1793250251686315264
+22,0.366666667,BASELINE,768.220508981,745,720,684.220508981,665,641,884,787,816.779491019,653,630,655,0.400961423292,0.00451770202024,0.0598375969775,0.999999950877,0.000157942012522,-0.000269702212438,2.37067063849e-05,1793250251702981888
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+25,0.416666667,BASELINE,769,745,720,683,666,640.494862148,884,787,817,653,630,655.494862148,0.400960628604,0.00451454704959,0.0598366136461,0.99999995087,0.000156090465513,-0.000270768273894,2.40746122863e-05,1793250251752982784
+26,0.433333333,BASELINE,768.919496785,745,720,683.080503215,666,640.080503215,884,787,817,653.080503215,630,655,0.400962012612,0.00451369486646,0.0598371831066,0.999999951785,0.000152491747963,-0.000269442006445,2.40250423399e-05,1793250251769649408
+27,0.450000000,BASELINE,768.326904202,745,720,683.673095798,666,640.673095798,884,787,817,653.673095798,630,655,0.40096199049,0.00451469165808,0.0598378133384,0.999999951489,0.000154675132321,-0.000269287785656,2.4126941719e-05,1793250251786315520
+28,0.466666667,BASELINE,768.259138961,745,720,684,666,640.740861039,884,787,816.740861039,653.740861039,630,655,0.400962217411,0.0045152989402,0.0598382156074,0.999999951584,0.000155238031483,-0.000268619960431,2.39984545842e-05,1793250251802982144
+29,0.483333333,BASELINE,768.837123653,745,720,684,666,640.162876347,884,787,816.162876347,653.162876347,630,655,0.400962750754,0.00451542696804,0.0598383373896,0.999999952163,0.000153807078325,-0.000267320194035,2.35864988522e-05,1793250251819648768
+30,0.500000000,BASELINE,768.587175313,745,720,684,666,640.412824687,884,787,816.412824687,653.412824687,630,655.412824687,0.400962685461,0.00451537880465,0.0598381560896,0.999999952028,0.000154554891131,-0.000267392057785,2.36401534423e-05,1793250251836315648
+31,0.516666667,BASELINE,768.012370332,745,720,684,666,640.987629668,884,787,816.987629668,653.987629668,630,655.987629668,0.400962385279,0.00451526150898,0.0598378558689,0.99999995161,0.000156157587801,-0.000268002108987,2.38764998694e-05,1793250251852982784
+32,0.533333333,BASELINE,768,745,720,684,666,641,884,787,817,653.42589834,630,655.42589834,0.400962969557,0.00451508093581,0.0598381030866,0.999999951993,0.000155151874178,-0.000267155277776,2.3854848449e-05,1793250251869649152
+33,0.550000000,BASELINE,768,745,719.840914388,683.840914388,666,640.840914388,884,786.840914388,817,653,630,655.159085612,0.400963372202,0.00451506909535,0.0598385215455,0.999999952184,0.000154922991238,-0.000266581658269,2.37882486444e-05,1793250251886315520
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+35,0.583333333,BASELINE,768.317998137,745,719.317998137,683.317998137,665.682001863,640.317998137,884,786.317998137,817,653,630,655.682001863,0.400963107566,0.0045147662333,0.0598392086786,0.99999995177,0.000156294135897,-0.000267335794039,2.3741193724e-05,1793250251919648512
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+39,0.650000000,BASELINE,768.634915612,745.634915612,720,683.634915612,666,640.634915612,884,787,817,653.365084388,630,655,0.400962807094,0.00451628620655,0.0598388311711,0.999999951642,0.000156497803832,-0.000267703891826,2.36595863795e-05,1793250251986315520
+40,0.666666667,BASELINE,768.778648669,745.778648669,719.778648669,683.778648669,666,641,884,787,817,653,630,655,0.400963112288,0.00451578076345,0.0598390413166,0.999999951804,0.000155943598906,-0.000267418334231,2.36909442145e-05,1793250252002982400
+41,0.683333333,BASELINE,768.196151415,745.196151415,719.196151415,683.196151415,666,641,884,787,817,653,630,655,0.400962335797,0.00451428472458,0.0598392330585,0.999999952095,0.000153928030746,-0.000267465721067,2.40514628751e-05,1793250252019649024
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+47,0.783333333,BASELINE,769,745,720,683.718447827,665.281552173,641,884,787,817,653,630,655.718447827,0.400963206749,0.00451666432027,0.0598390940988,0.99999995216,0.000156501536773,-0.000265782006679,2.33801386706e-05,1793250252119648768
+48,0.800000000,BASELINE,769,745,720,683.146124975,665.853875025,641,884,787,817,653,630,655.146124975,0.400964892048,0.00451626787458,0.0598404774496,0.999999952498,0.000157014722088,-0.00026417516558,2.37231118555e-05,1793250252136315904
+49,0.816666667,BASELINE,769,745,720,683.431096021,665.568903979,641,884,787,817,653,630,655.431096021,0.400963542648,0.00451618762365,0.0598398218807,0.999999951731,0.000158218848501,-0.000266345563844,2.37630898207e-05,1793250252152982528
+50,0.833333333,BASELINE,769,745,720,684,665.009923102,641,884,787,817,653,630,655.990076898,0.400961195979,0.00451620005142,0.059838492305,0.999999950604,0.000159581398101,-0.000269748008176,2.37032524327e-05,1793250252169648896
+51,0.850000000,BASELINE,769,745,720,684,665.584581739,641,884,787,817,653,630,655.415418261,0.40096130786,0.00451531721276,0.0598385884222,0.99999995114,0.000156478081257,-0.000269564642385,2.38749702361e-05,1793250252186315520
+52,0.866666667,BASELINE,769,745,720,683.842271462,665.842271462,641,884,787,817,653,630.157728538,655,0.400961176289,0.00451463698923,0.0598384538633,0.999999951477,0.000154218395978,-0.000269606814478,2.39638757076e-05,1793250252202981888
+53,0.883333333,BASELINE,769,745,720,683.273068704,665.273068704,641,884,787,817,653,630.726931296,655,0.400960409613,0.00451448533782,0.0598377175284,0.999999951319,0.000154159534179,-0.000270237358396,2.38367445529e-05,1793250252219648512
+54,0.900000000,BASELINE,769,745,720,683.313686437,665.313686437,641,884,787,817,653,630.686313563,655,0.400960807466,0.00451494044016,0.0598377113354,0.999999951449,0.000154162598964,-0.000269763166906,2.37411952182e-05,1793250252236315392
+55,0.916666667,BASELINE,769,745,720,683.916626806,665.916626806,641,884,787,817,653,630.083373194,655,0.400962279144,0.00451595503726,0.059838378415,0.999999951843,0.000154222766977,-0.000268270285945,2.36747678561e-05,1793250252252982016
+56,0.933333333,BASELINE,769,745,720,684,666,641,884,787,817,653,630.49418328,655.49418328,0.400962860117,0.00451470966342,0.0598386154043,0.999999952024,0.000154882319017,-0.000267184935562,2.39797994506e-05,1793250252269648896
+57,0.950000000,BASELINE,768.930498121,745,720,683.930498121,666,641,884,787,817,653,630.930498121,655.930498121,0.400963267588,0.00451340524537,0.0598387859074,0.999999952146,0.000155675573431,-0.000266239993421,2.42771837401e-05,1793250252286315520
+58,0.966666667,BASELINE,768.341459998,745,720,683.341459998,666,641,884,787,817,653,630.341459998,655.341459998,0.400963446504,0.00451437032324,0.059838975315,0.999999952085,0.000156749303958,-0.000265855785817,2.40718342684e-05,1793250252302982144
+59,0.983333333,BASELINE,768,745,719.756784641,683.243215359,666,641,884,787,817,653,630,655,0.40096328084,0.00451474948988,0.0598389342731,0.99999995222,0.00015594378961,-0.000265845446298,2.38318071323e-05,1793250252319648768
+60,1.000000000,BASELINE,768,745,719.178126335,683.821873665,666,641,884,787,817,653,630,655,0.40096263993,0.00451432056709,0.0598385753948,0.999999952616,0.000152546418373,-0.000266350746088,2.35439524859e-05,1793250252336315136
+61,1.016666667,BASELINE,768.399766826,745,719.399766826,683.600233174,666,640.600233174,884,787,817,653,630.399766826,655,0.400962390971,0.00451459943445,0.0598385454881,0.999999952444,0.00015312559733,-0.000266658249323,2.36385443483e-05,1793250252352981760
+62,1.033333333,BASELINE,768.977319672,745,719.977319672,683.022680328,666,640.022680328,884,787,817,653,630.977319672,655,0.400962316324,0.00451519307332,0.0598386618831,0.999999952016,0.000155473244981,-0.000266877787593,2.39032194828e-05,1793250252369648384
+63,1.050000000,BASELINE,768.447508926,745,720,683.552491074,666,640.552491074,884,787,817,653,630.447508926,655,0.400963320243,0.00451537121235,0.0598394519571,0.999999952195,0.000155698744956,-0.000266055755341,2.41447342263e-05,1793250252386315008
+64,1.066666667,BASELINE,768.131264957,745,720,683.868735043,666,641,884,787,817,653.131264957,630,655.131264957,0.400963861618,0.00451532059839,0.059839822072,0.999999952264,0.000155950224458,-0.000265632462142,2.4289632883e-05,1793250252402981888
+65,1.083333333,BASELINE,768.723018089,745,720,683.276981911,666,641,884,787,817,653.723018089,630,655.723018089,0.400962625689,0.00451452707977,0.0598386223352,0.999999951869,0.00015659714187,-0.000266757331279,2.40989154375e-05,1793250252419648256
+66,1.100000000,BASELINE,769,745,720,683.307771545,666,641,884,787,817,653.692228455,630,655.692228455,0.400962397493,0.00451475874958,0.0598385324876,0.99999995187,0.000156064733741,-0.00026709050398,2.37916857165e-05,1793250252436314880
+67,1.116666667,BASELINE,769,745,720,683.886365629,666,641,884,787,817,653.113634371,630,655.113634371,0.400963056046,0.00451589253053,0.0598394192834,0.999999952221,0.000154494582023,-0.000266727025999,2.33819314193e-05,1793250252452981760
+68,1.133333333,BASELINE,769,745.459869472,720,684,666,641,884,787,817,653.459869472,630,655,0.40096162768,0.00451626192411,0.059838643373,0.999999951672,0.000156244994944,-0.000267741482718,2.36099466515e-05,1793250252469648384
+69,1.150000000,BASELINE,769,745.966906741,720,684,666,641,884,787,817,653.966906741,630.033093259,655,0.400959881901,0.00451638080803,0.0598375812338,0.999999950983,0.00015858788824,-0.00026890394351,2.39734971484e-05,1793250252486315008
+70,1.166666667,BASELINE,769,745.377478085,720,684,666,641,884,787,817,653.377478085,630.622521915,655,0.400961374322,0.00451542888423,0.0598385386227,0.999999951733,0.000157248249548,-0.000266893167479,2.39952235148e-05,1793250252502981632
+71,1.183333333,BASELINE,768.791082881,745,720,684,666,640.791082881,884,787,817.208917119,653,630.791082881,655,0.400962512312,0.00451502480798,0.0598392564103,0.999999952252,0.000156269672653,-0.000265524002524,2.39322065648e-05,1793250252519648512
+72,1.200000000,BASELINE,768.210090074,745,720,684,666,640.210090074,884,787,817.789909926,653,630.210090074,655,0.400963019069,0.00451559643312,0.0598395474746,0.99999995237,0.000155934136737,-0.00026529752905,2.3718264085e-05,1793250252536315136
+73,1.216666667,BASELINE,768.366772887,745,720,684,666,640.366772887,884.366772887,787,817.633227113,653.366772887,630.366772887,655,0.400963008278,0.00451602106532,0.0598394495405,0.999999952286,0.000156075161335,-0.000265538562944,2.36096174174e-05,1793250252552981504
+74,1.233333333,BASELINE,768.941296549,745,720,684,666,640.941296549,884.941296549,787,817.058703451,653.941296549,630.941296549,655,0.400962704331,0.00451636243643,0.0598391312664,0.999999952089,0.000156486123616,-0.000266044406551,2.35606133574e-05,1793250252569648128
+75,1.250000000,BASELINE,769,745,720,684,666.516226916,641,884.483773084,787,817,654,630.483773084,655,0.400962236608,0.00451657679938,0.0598387781387,0.999999951713,0.000157158792433,-0.000267063276177,2.35164118972e-05,1793250252586316032
+76,1.266666667,BASELINE,769,745,720,684,666.8119673,641,884.09401635,787,817,653.90598365,630,655.09401635,0.400961715313,0.00451653470256,0.0598383813604,0.999999951434,0.000157199188701,-0.000268081107839,2.3494772542e-05,1793250252602983168
+77,1.283333333,BASELINE,769,745,720,684,665.626548661,641,884.68672567,787,817,653.31327433,630,655.68672567,0.400961008731,0.00451520893082,0.0598377740843,0.999999951783,0.000153727825169,-0.000268783738532,2.35899106959e-05,1793250252619649024
+78,1.300000000,BASELINE,768.728200033,745,720,684,665.543599934,641,885,787,817,653,630,655.728200033,0.400961337408,0.00451462568022,0.0598381783893,0.999999952106,0.000153151491191,-0.000267893343833,2.37926684203e-05,1793250252636315392
+79,1.316666667,BASELINE,768.151685392,745,720,684,666.696629216,641,885,787,817,653,630,655.151685392,0.400962826714,0.00451487486945,0.0598397167767,0.999999952399,0.000155820772219,-0.000265217009891,2.41160783323e-05,1793250252652982016
+80,1.333333333,BASELINE,768,745,720,683.575700035,666.575700035,640.575700035,885,787,817,653,630,655,0.400963067536,0.00451527853485,0.0598398328011,0.999999952423,0.000155925255827,-0.00026508563351,2.39023733794e-05,1793250252669648896
+81,1.350000000,BASELINE,768.000095021,745,719.999904979,683.000095021,666,640.000095021,884.999904979,787,817,653,630,655.000095021,0.400962862622,0.00451573722069,0.0598394410307,0.999999952352,0.000155113962415,-0.000265862783802,2.34969563782e-05,1793250252686315520
+82,1.366666667,BASELINE,768.567725894,745,719.432274106,683.567725894,666,640.567725894,884.432274106,787,817,653,630,655.567725894,0.400962869495,0.00451538756888,0.0598394100173,0.999999952526,0.000154210805326,-0.000265737224326,2.34796754076e-05,1793250252702982400
+83,1.383333333,BASELINE,769,745,719.143112789,684,666,641,884,787,817,653,630,656,0.400962764733,0.00451507828931,0.0598392751095,0.999999952553,0.000153765841971,-0.000265891188828,2.3506734282e-05,1793250252719649024
+84,1.400000000,BASELINE,769,745,719.743269394,684,666,641,884,787,817,653,630,656,0.400962303456,0.00451489794214,0.0598388084056,0.999999952113,0.000154784162098,-0.000266937838758,2.36753965136e-05,1793250252736315904
+85,1.416666667,BASELINE,768.670550166,745.329449834,720,684,666,640.670550166,884,787,817,653,630,655.670550166,0.400962929971,0.00451406401991,0.0598393092759,0.999999952251,0.000154676669372,-0.000266461707566,2.39088473775e-05,1793250252752982528
+86,1.433333333,BASELINE,768.094817745,745.905182255,720,684,666,640.094817745,884,787,817,653,630,655.094817745,0.400964369672,0.00451274151299,0.0598405334634,0.999999952819,0.000153727567107,-0.000264847210356,2.41907314383e-05,1793250252769648640
+87,1.450000000,BASELINE,768.481667562,745.518332438,720,684,666,640.481667562,884,787,817,653,630,655,0.400964616214,0.00451222734626,0.0598403210526,0.999999953247,0.000151358900379,-0.000264598968011,2.41582079145e-05,1793250252786315520
+88,1.466666667,BASELINE,768.940620084,745,720,684,666.059379916,641,884.059379916,787,817,653,630,655.059379916,0.400964606965,0.00451213567711,0.0598398896819,0.999999953552,0.000149379425791,-0.000264584136851,2.40289785554e-05,1793250252802982144
+89,1.483333333,BASELINE,768.353318264,745,720,684,666.646681736,641,884.646681736,787,817,653,630,655.646681736,0.400964415057,0.00451438333472,0.0598400298119,0.99999995305,0.000153348418308,-0.000264249588457,2.35910963549e-05,1793250252819648768
+90,1.500000000,BASELINE,768,745,720,684,666.769120228,641,885,787,817,653,630,656,0.400964369815,0.00451519899834,0.059840257941,0.99999995288,0.000155001881893,-0.000263934243562,2.35396742502e-05,1793250252836315392
+91,1.516666667,BASELINE,768,745,720,684,666.189609,641,885,787,817,653,630,656,0.400964546042,0.00451385233223,0.0598406189501,0.999999953226,0.000153158866347,-0.000263647896231,2.40718119523e-05,1793250252852982528
+92,1.533333333,BASELINE,768.386458944,745,720,684,666,641,884.227082112,787,817,653,630,655.613541056,0.400963694193,0.00451437929161,0.059839751502,0.999999952729,0.000154410638419,-0.000264796889205,2.41032612555e-05,1793250252869649408
+93,1.550000000,BASELINE,768.960852474,745,720,684,666,641,883.078295052,787,817,653,630,655.039147526,0.400962342391,0.004515817393,0.0598382866566,0.999999951814,0.000157167402355,-0.000266643886663,2.38912263536e-05,1793250252886316032
+94,1.566666667,BASELINE,768.474586662,745,720,683.474586662,666,641,883.525413338,787,817,653.525413338,630.525413338,655.525413338,0.400963953348,0.00451566596063,0.0598401635972,0.999999952624,0.00015604222837,-0.000264275389952,2.37030191322e-05,1793250252902982912
+95,1.583333333,BASELINE,768,745,720,683.092194373,666,641,884,787.092194373,817,654,631,655.907805627,0.4009652757,0.00451540190531,0.0598417377261,0.999999953316,0.00015492123454,-0.000262318890811,2.35683938338e-05,1793250252919649280
+96,1.600000000,BASELINE,768,745,720,683.674604603,666,641,884,787.674604603,817,654,631,655.325395397,0.400963911281,0.00451515717501,0.0598404021379,0.999999952756,0.000155332138247,-0.000264192454022,2.37094077328e-05,1793250252936315648
+97,1.616666667,BASELINE,768.26409388,745,720,684,666,641,884.26409388,787.73590612,817,653.73590612,631,655,0.400963052959,0.00451496327036,0.0598395983758,0.999999952595,0.000154870906746,-0.000265071151748,2.37266743653e-05,1793250252952982272
+98,1.633333333,BASELINE,768.862545594,745,720,684,666,641,884.862545594,787.137454406,817,653.137454406,631,655,0.400962835385,0.00451483371388,0.0598394679358,0.99999995294,0.000153305502567,-0.00026469029322,2.35872699293e-05,1793250252969648640
+99,1.650000000,BASELINE,769,745,720,684,666,641,884.55826861,787,817,653,630.55826861,655,0.400963443092,0.00451380214151,0.0598397217874,0.999999952983,0.000153327806126,-0.000264484323485,2.3924267675e-05,1793250252986315520
+100,1.666666667,BASELINE,769,745,720,684,666,641,884,787,817,653.015663261,630,655,0.400964263684,0.00451259665681,0.0598400653752,0.999999952923,0.000153872448073,-0.000264352696731,2.43737884722e-05,1793250253002982400
+101,1.683333333,BASELINE,769,745,720,684,666,641,884,787,817,653.607644695,630,655,0.4009638632,0.00451488807908,0.0598394947302,0.999999952394,0.00015621763869,-0.000265037785917,2.37369740951e-05,1793250253019649280
+102,1.700000000,BASELINE,769,745,719.804525345,684,666,641,884.195474655,787,817,654,630,655,0.400963602371,0.00451612699123,0.0598394545675,0.999999952285,0.000156971944632,-0.000265031052482,2.34191501559e-05,1793250253036316160
+103,1.716666667,BASELINE,769,745,719.224854969,684,666,641,884.775145031,787,817,654,630,655,0.400963616029,0.00451529724676,0.0598404570413,0.999999953008,0.000154599445522,-0.000263664575988,2.37282861471e-05,1793250253052982272
+104,1.733333333,BASELINE,769,745,719.353252384,683.646747616,666,641,884.646747616,787,817,653.646747616,630,655,0.400964182919,0.00451496956212,0.0598408953995,0.999999953545,0.000152824644754,-0.000262665810794,2.37030052376e-05,1793250253069648896
+105,1.750000000,BASELINE,769,745,719.930369268,683.069630732,666,641,884.069630732,787,817,653.069630732,630,655,0.400965100407,0.00451496004474,0.0598409762641,0.999999953964,0.000151428619515,-0.000261900072931,2.3465796355e-05,1793250253086315776
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787,817,653,630,655,0.400961588228,0.00451479622072,0.0598383816366,0.99999995265,0.000150898765131,-0.000267170962645,2.34219428941e-05,1793250253117981696
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745.601011618,720,684,666,641,884,787,816.398988382,653.601011618,630,655.601011618,0.400963593468,0.00451554676117,0.0598400184871,0.999999952995,0.000153465620437,-0.000264423805201,2.32229820346e-05,1793250253134648576
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745.80599528,720,683.80599528,666,641,884,787,816,653.80599528,630,656,0.40096442042,0.00451565344434,0.0598408333245,0.999999953151,0.000154660311258,-0.000263133693456,2.32142603699e-05,1793250253151315456
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745.228838345,720,683.228838345,666,641,884,787,816,653.228838345,630,656,0.400962920299,0.0045144885331,0.0598400247166,0.999999952957,0.000153145027953,-0.000264721193103,2.358125411e-05,1793250253167981824
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.650444337,745,719.650444337,683.349555663,666,641,884,787,816.349555663,653,630.349555663,656,0.40096336868,0.00451442810713,0.0598403782778,0.999999952979,0.000153670745209,-0.000264318076526,2.37137481648e-05,1793250253184648448
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.071237632,745,719.071237632,683.928762368,666,641,884,787,816.928762368,653,630.928762368,656,0.400965097186,0.00451509330585,0.0598414953608,0.999999953142,0.00015553735889,-0.000262607165015,2.36921806186e-05,1793250253201315072
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.515961394,745,719.515961394,684,666,641,883.484038606,787,817,653.515961394,630.484038606,656,0.400963549415,0.00451479896355,0.0598404993764,0.999999952944,0.000153768771171,-0.000264406197109,2.35997137954e-05,1793250253217981696
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,720,683.897478961,666,641,883.205042079,787,817,653.897478961,630,655.897478961,0.400961847679,0.00451450377005,0.0598393315601,0.99999995264,0.000152078001285,-0.000266531335818,2.3506019653e-05,1793250253234648320
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,720,683.319089699,666,641,884.361820602,787,817,653.319089699,630,655.319089699,0.400961563969,0.00451482923628,0.0598387416542,0.999999952122,0.000153114760642,-0.000267885363123,2.34527804114e-05,1793250253251314944
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,720,683.259104646,666,641,884.740895354,787,817,653.259104646,630,655.259104646,0.400962910732,0.00451451453169,0.0598393810222,0.99999995229,0.000152817147907,-0.000267419300152,2.35514843644e-05,1793250253267981568
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,720,683.837059088,666,641,884.162940912,787,817,653.837059088,630,655.837059088,0.400966263928,0.00451341204371,0.059841533114,0.999999953297,0.000150877479367,-0.000264713464768,2.38371670471e-05,1793250253284648448
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.591028022,745,720,684,665.591028022,641,884.408971978,787,816.591028022,654,630,656,0.400984881688,0.00451366276707,0.0598497115616,0.999999956806,0.0001519584556,-0.000250450967149,2.39075884933e-05,1793250253301315072
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.021487093,745,720,684,665.021487093,641,884.978512907,787,816.021487093,654,630,656,0.401009492561,0.00451444478279,0.0598602560532,0.999999960991,0.000154225385159,-0.000231651138481,2.38934949459e-05,1793250253317981696
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.570493328,745,720,683.429506672,665.570493328,640.429506672,884.429506672,787,816.570493328,654,630,656,0.401059175351,0.00451459724716,0.0598790139912,0.99999996837,0.000152942863369,-0.000198228713251,2.39480298063e-05,1793250253334648576
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,720,683.159771676,666,640.159771676,884.159771676,787,817,654,630,655.840228324,0.401115667479,0.0045144315341,0.0598977892961,0.999999974222,0.000151717127849,-0.000167180456176,2.42459825391e-05,1793250253351315200
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,720,683.739632395,666,640.739632395,884.739632395,787,817,654,630,655.260367605,0.401187478927,0.00451349413182,0.0599157635838,0.999999977931,0.000151006596617,-0.00014388198508,2.51768814734e-05,1793250253367981568
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745.315632556,720,684,666,641,884.684367444,787,817,654,630.315632556,655.315632556,0.401264229023,0.00451222679186,0.0599275800487,0.999999980657,0.000149212072515,-0.000125642870877,2.52049871723e-05,1793250253384648192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.888486562,720,684,666,641,884.111513438,787,817,654,630.888486562,655.888486562,0.401345003814,0.00451069057272,0.0599343782591,0.999999982745,0.000146534159833,-0.000111526828062,2.44973709177e-05,1793250253401315072
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.536749495,745.536749495,720,683.536749495,666,641,884.463250505,787,817,654,630.536749495,656,0.401441029742,0.00451133051685,0.0599384611892,0.999999983869,0.000144661136244,-0.00010382476673,2.35667120214e-05,1793250253417981696
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.039820258,745,720,683.079640516,666.039820258,641,884.960179742,787.039820258,817,654,630,656,0.401542421649,0.00451251249537,0.0599419128221,0.999999984743,0.000143157032709,-9.75272055118e-05,2.25562650283e-05,1793250253434648576
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.635141206,745,720,684.270282413,666.635141206,641,884.364858794,787.635141206,817,654,630,656,0.401667243396,0.00451391796634,0.0599457136246,0.999999985417,0.000144085361811,-8.9194833175e-05,2.1184854968e-05,1793250253451314944
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,720,684.777563406,666.777563406,641,884.222436594,787.777563406,817.222436594,653.777563406,630,655.777563406,0.401802414977,0.00451449799301,0.059947836654,0.999999986122,0.000142986615801,-8.31826620995e-05,1.9760544052e-05,1793250253467981568
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,720,684.202973832,666.202973832,641,884.797026168,787.202973832,817.797026168,653.202973832,630,655.202973832,0.401953972,0.00451377120818,0.0599473034979,0.99999998695,0.00013867868309,-8.08437443857e-05,1.82524826867e-05,1793250253484648192
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.371530633,720,684,666,641,884.628469367,787,817.628469367,653.371530633,630,655.371530633,0.402123585474,0.00451386121122,0.0599467406271,0.999999987575,0.000136363175386,-7.73484940442e-05,1.65123225235e-05,1793250253501314816
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745.945988664,720,684,666,641,884.054011336,787,817.054011336,653.945988664,630,655.945988664,0.402303061268,0.00451439733794,0.0599461615264,0.999999988081,0.000135135915699,-7.32216627971e-05,1.46453915014e-05,1793250253517981440
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,746,720,684,666.536387637,641,884.536387637,787.536387637,817,653.463612363,630,656,0.402514487042,0.00451409681976,0.0599456740432,0.999999989022,0.000131101517573,-6.79770704928e-05,1.21618487488e-05,1793250253534648064
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,720,684,667,641,885,787.874435585,817,653,630.125564415,656,0.402739192991,0.00451370125397,0.0599458570547,0.999999990041,0.000126305640468,-6.22250943352e-05,9.64617438538e-06,1793250253551314688
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,720,684,667,641,885,787.295641574,817,653,630.704358426,656,0.402999866043,0.00451327601187,0.0599484259229,0.99999999128,0.000119812710537,-5.50604012616e-05,7.24549783533e-06,1793250253567981312
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.718530291,720,684,666.718530291,641,885,787,817.281469709,653.281469709,631,656,0.403276676324,0.00451233757379,0.0599494218489,0.999999992261,0.000113204000987,-5.13890745408e-05,4.61334394181e-06,1793250253584648192
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.143175991,720,684,666.143175991,641,885,787,817.856824009,653.856824009,631,656,0.403570335589,0.00451086330405,0.0599487754541,0.999999993011,0.000106474405482,-5.13651977065e-05,1.739502999e-06,1793250253601315072
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,720,684.430189125,666.430189125,641,885,787,817.569810875,653.569810875,630.569810875,656,0.403877097029,0.00451171093552,0.059938674626,0.999999992588,0.000100695022328,-6.84191705977e-05,-1.53713847639e-06,1793250253617981952
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,720,684.997006527,667,641,885,787,817,653.002993473,630.002993473,655.997006527,0.404188344003,0.0045133196797,0.0599254352688,0.9999999913,9.52227147344e-05,-9.11467338651e-05,-4.94753243176e-06,1793250253634648320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,720,684.40486811,667,641,885,787,817,653.59513189,630.59513189,655.40486811,0.404528114805,0.00451333269505,0.0599109406234,0.999999989228,8.82311226243e-05,-0.000117000478117,-8.41875936955e-06,1793250253651314688
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666.816951637,641,885,787,817,654,630.816951637,655,0.404890836471,0.00451345135306,0.0598998603883,0.999999987276,8.08434846466e-05,-0.000136990617618,-1.2047360389e-05,1793250253667981312
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666.238162852,641,885,787,817,654,630.238162852,655,0.405303176586,0.00451379840466,0.0598961619211,0.999999986825,7.25996184538e-05,-0.000144303965172,-1.60161950174e-05,1793250253684648192
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,720,684.337048353,666.337048353,641,885,787,817,653.662951647,630,655,0.405763205985,0.00451259022328,0.0599074563078,0.999999989693,6.33814605149e-05,-0.000127343212233,-1.95190183094e-05,1793250253701315072
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,720,684.909758202,666.909758202,641,885,787,817,653.090241798,630,655,0.406256579389,0.00451029463554,0.059929233577,0.99999999395,5.34820847268e-05,-9.34102041924e-05,-2.26960106118e-05,1793250253717981952
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,719.511348065,685.488651935,666.511348065,641,885.488651935,787,817,653,630.488651935,655.488651935,0.40679947507,0.00450950579242,0.0599618463427,0.999999998089,4.20372047925e-05,-3.68839075103e-05,-2.63638639811e-05,1793250253734648320
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.070131418,719.070131418,686,666.070131418,641,885.929868582,787,817,653.070131418,630.929868582,656,0.407348803503,0.00450891205219,0.0599930438069,0.999999998937,3.06950606528e-05,1.67899660855e-05,-3.00458799958e-05,1793250253751314944
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.66224795,719.66224795,686,666.66224795,641,885.33775205,787,817,653.66224795,630.33775205,656,0.407877068695,0.0045076728461,0.059998622672,0.999999999045,2.22691365338e-05,1.77802589044e-05,-3.31499603923e-05,1793250253767981312
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.752137867,720,686,667,641,885,787.247862133,817,654,630.247862133,656,0.40841918773,0.00450648739338,0.0599960292052,0.999999999236,1.38078371597e-05,3.05682833391e-06,-3.64542228956e-05,1793250253784647936
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.175157715,720,686,667,641,885,787.824842285,817,654,630.824842285,656,0.408979702242,0.00450537331593,0.0599825842957,0.999999998656,5.29956605985e-06,-3.25317077339e-05,-4.00242923778e-05,1793250253801314816
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.400172107,720,686,667,641.400172107,885.400172107,788,817,653.599827893,631,656,0.409596772423,0.0045045302192,0.0599772775719,0.999999997912,-5.46417042193e-06,-4.67980571425e-05,-4.42383627345e-05,1793250253817981440
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.974782521,720,686,667,641.974782521,885.974782521,788,817,653.025217479,631,656,0.41023849567,0.00450380524522,0.0599755183504,0.999999997324,-1.72110825563e-05,-5.17698894194e-05,-4.8733158275e-05,1793250253834648064
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,720,686,667,641.437525176,886,787.437525176,817,653,631,656,0.410915997686,0.00450328020962,0.0599841935813,0.999999997898,-2.62153096568e-05,-2.47144844669e-05,-5.39132414636e-05,1793250253851314688
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,720,686,667,641,886,787,817,653,630.851383039,655.851383039,0.411598878175,0.00450234813586,0.059989111001,0.99999999814,-2.40764567679e-05,-7.65360847903e-06,-5.55066691046e-05,1793250253867981312
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,720,686,667,641,886,787,817,653,630.271482111,655.271482111,0.412292600946,0.00450020821179,0.0599817334143,0.999999998579,1.00340985464e-05,-2.38628153065e-05,-4.66003983615e-05,1793250253884648192
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.307013938,746,720,686,667,641.307013938,886,787,817,653,630,655.307013938,0.412974090558,0.00449095546751,0.0599555297616,0.999999995615,4.13906432773e-05,-7.6451063414e-05,-3.48150556191e-05,1793250253901314816
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.884273422,746,720,686,667,641.884273422,886,787,817,653,630,655.884273422,0.413644812147,0.00447544174346,0.0599127546763,0.999999984347,7.03230049882e-05,-0.000161061552572,-2.0495441119e-05,1793250253917981440
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.543209263,746,720,686.913581474,666.543209263,642,886.456790737,787,817,653.456790737,630.456790737,656,0.414435875482,0.00446604736762,0.059916565637,0.999999986872,5.82531554536e-05,-0.000149667086256,-2.15116123953e-05,1793250253934648064
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,720,688,666.087516738,641.970827754,887,787.029172246,817.029172246,653.970827754,631,656,0.415259105951,0.0044588908037,0.0599339632767,0.999999992771,3.71837380926e-05,-0.00011127206942,-2.63320578833e-05,1793250253951314688
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,720,688,667.865705067,641.378098311,887,787.621901689,817.621901689,653.378098311,631,656,0.416120822711,0.00446532313233,0.0599881720924,0.999999998571,4.08704190149e-05,-1.63152494481e-05,-3.03588943257e-05,1793250253967981312
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,720,688,668.790587449,641.209412551,887,788,818,653.209412551,631,656,0.416966932465,0.0044676502949,0.0600206274583,0.999999997792,4.38935677815e-05,3.76399153293e-05,-3.27366532122e-05,1793250253984648192
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,720,688,668.212269776,641.787730224,887,788,818,653.787730224,631,656,0.417785548567,0.00446274571864,0.0600147615312,0.999999998247,4.57478260173e-05,1.93657805006e-05,-3.22093659369e-05,1793250254001314816
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.364425752,746,720,688,667.635574248,641.635574248,887.364425752,788,818,654,630.635574248,656,0.418626715395,0.00446429650962,0.0600001106668,0.999999998002,5.34643731106e-05,-2.99054352662e-06,-3.35885401352e-05,1793250254017981696
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.940180583,746,720,688,667.059819417,641.059819417,887.940180583,788,818,654,630.059819417,656,0.419480959273,0.0044695907432,0.0599803654517,0.99999999688,6.45804386727e-05,-2.77141125904e-05,-3.60732639461e-05,1793250254034648320
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.481162483,746.518837517,720,688.518837517,667.518837517,641,888,787.481162483,818.518837517,654,630.518837517,656,0.420315887394,0.00446842561306,0.0599510700362,0.999999994475,6.63477021134e-05,-7.22780080293e-05,-3.77305163401e-05,1793250254051315456
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,747,720,689,667.801828552,641.099085724,887.900914276,787.099085724,818.900914276,654,631,656,0.421150865157,0.00446672194476,0.0599195040276,0.99999999024,5.07494184114e-05,-0.000124204049358,-3.89543422352e-05,1793250254067982336
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,747,720,689,666.628989615,641.685505192,887.314494808,787.685505192,818.314494808,654,631,656,0.421997101538,0.00446605300872,0.0598822165244,0.999999978043,-4.49267944739e-05,-0.000201025482662,-3.85183064453e-05,1793250254084648704
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.732100224,720.267899776,689.535799551,666.267899776,641.732100224,887.267899776,787.732100224,818,654,630.732100224,656,0.422910667257,0.00446648382173,0.0598858860043,0.999999974862,-0.000101449170987,-0.00019610207151,-3.90945428678e-05,1793250254101314816
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.154360552,720.845639448,690.691278896,666.845639448,641.154360552,887.845639448,787.154360552,818,654,630.154360552,656,0.423902102938,0.00446818655108,0.0599369243412,0.999999988147,-0.00011268813044,-9.66365462423e-05,-4.08415244451e-05,1793250254117981952
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.421749843,746,720.578250157,691,667.843499686,641.421749843,888,787.421749843,818.421749843,654,630.421749843,656.421749843,0.424883126849,0.00446529191535,0.0599902242004,0.999999992543,-0.000114341047764,-1.20557643534e-05,-4.11662922285e-05,1793250254134648832
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.997266182,746,720.002733818,691,668.994532364,641.997266182,888,787.997266182,818.997266182,654,630.997266182,656.997266182,0.425860354657,0.00446072111833,0.0600443485888,0.999999990582,-0.000112498972579,6.7098157486e-05,-4.09725324217e-05,1793250254151315456
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.415421266,746,720,690.415421266,667.246263797,641.415421266,888,787.415421266,819,654,631,656.415421266,0.426798727462,0.00446098696666,0.0600333030037,0.999999991294,-0.000107461395116,6.29131736199e-05,-4.36529314884e-05,1793250254167982080
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,720,690,666.34091775,641,888,787,818.829541125,654,630.829541125,656,0.427729851583,0.00446078612781,0.0600167426142,0.999999992574,-0.000102516525827,4.71730287776e-05,-4.60063736163e-05,1793250254184648704
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,720,690,667.505484568,641,888,787,818.247257716,654,630.247257716,656,0.428643911049,0.00445940201189,0.0599876100748,0.999999994075,-9.78324852395e-05,4.47688659407e-06,-4.75367531062e-05,1793250254201315328
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,720,690.329573144,667.340853712,641,888,787,818.329573144,654,630.329573144,656,0.42951626779,0.00445996439904,0.0599518639829,0.999999993371,-8.79981256329e-05,-5.64903318705e-05,-4.81947602604e-05,1793250254217981952
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,720,690.902379854,666.195240293,641,888,787,818.902379854,654,630.902379854,656,0.430357846793,0.00446196335623,0.0599112369181,0.9999999875,-7.43626963069e-05,-0.000130942078553,-4.8208933665e-05,1793250254234648576
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,720,691,666.478525759,641,888,787,819,654,630.521474241,656,0.431318593627,0.00446028892708,0.0599248180905,0.999999991489,-7.01374868007e-05,-9.8130908999e-05,-4.97260082129e-05,1793250254251315200
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746.056760509,720,691,667.113521019,641,888,787,819,654,630.056760509,656,0.432302629519,0.0044576648917,0.0599514076089,0.999999995489,-6.80737161854e-05,-4.19051511458e-05,-5.13031122692e-05,1793250254267981824
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.648209897,720,691,668.296419795,641,888,787,819,654,630.648209897,656,0.433275433779,0.00445320429347,0.0599956320275,0.999999996027,-6.81600501821e-05,2.7310746123e-05,-5.05372558136e-05,1793250254284648192
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.765502076,720,691,668.296506229,641,888.234497924,787,819,654,630.765502076,656,0.434217465797,0.00444970469773,0.0600147316835,0.99999999489,-6.73730091156e-05,5.58446612887e-05,-5.06194464279e-05,1793250254301314816
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.186790203,720,691,666.560370608,641,888.813209797,787,819,654,630.186790203,656,0.435114328112,0.00444761573414,0.0599969513022,0.999999996214,-6.53039618234e-05,2.46624686322e-05,-5.19464653898e-05,1793250254317982208
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.388131406,720.388131406,691,666.388131406,641.388131406,889,787,819,654,630.388131406,656.388131406,0.435970830657,0.00444536406767,0.0599672818043,0.99999999604,-6.57286141998e-05,-2.78414181182e-05,-5.31392653088e-05,1793250254334649088
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.961246538,720.961246538,691,666.961246538,641.961246538,889,787,819,654,630.961246538,656.961246538,0.43680809765,0.004443034857,0.0599319459453,0.999999992164,-6.73417656725e-05,-9.05072386216e-05,-5.42680960909e-05,1793250254351315712
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.450814742,720.450814742,691.549185258,666.450814742,641.450814742,889,787,819,654,631,656.450814742,0.437631473367,0.00444191287886,0.0599102061762,0.999999987555,-6.02634278491e-05,-0.000135637337199,-5.34907906436e-05,1793250254367982080
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.135865954,720.135865954,692,666,641,889,787.135865954,819,654,631,656,0.438463779393,0.00444042269335,0.059897106909,0.999999983654,-5.36852716747e-05,-0.000164408124138,-5.27301285002e-05,1793250254384648192
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.714935977,720.714935977,692,666,641,889,787.714935977,819,654,631,656,0.439328502991,0.0044374457895,0.0599089770625,0.999999986971,-5.07949295178e-05,-0.000143962220382,-5.24747018651e-05,1793250254401314816
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.294114558,747,721,692,666.588229116,641.294114558,889,787.705885442,819.294114558,654,631,656,0.44018484217,0.00443515610897,0.0599425851735,0.99999999315,-5.01936939839e-05,-9.17210438682e-05,-5.26076080586e-05,1793250254417981696
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.873398361,747,721,692,667.746796723,641.873398361,889,787.126601639,819.873398361,654,631,656,0.441033051886,0.00443353275045,0.0599972700948,0.99999999721,-5.18119432388e-05,-8.65162876225e-06,-5.31170359364e-05,1793250254434648320
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.552102859,720.552102859,692,666.656308577,641.552102859,889,787,819.552102859,654,631,656,0.441818000067,0.00443618598811,0.0599852484595,0.999999997167,-4.51424620381e-05,-2.54993592999e-05,-5.45691633305e-05,1793250254451315200
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746.021565481,720,692,665,641,889,787,819,654,630.978434519,656,0.442582726367,0.00443976933802,0.0599538928576,0.9999999952,-3.64299793498e-05,-7.14884761344e-05,-5.62286044804e-05,1793250254467982080
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.608546133,720,692,665,641,889,787,819,654,630.391453867,656,0.44328113068,0.00443638055554,0.0599047574487,0.999999986717,-3.49231115877e-05,-0.000148875616715,-5.6411125622e-05,1793250254484648704
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.805700985,746.805700985,720,692,664.805700985,640.805700985,889.194299015,787,818.805700985,654,630.194299015,656,0.44397782607,0.00443541637416,0.0598663239631,0.999999976183,-3.00472718092e-05,-0.000208674721463,-5.64460740978e-05,1793250254501315328
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.22240605,746.22240605,720,692,664.22240605,640.22240605,889.77759395,787,818.22240605,654,630.77759395,656,0.444671100244,0.00443930635952,0.0598493162312,0.999999971046,-1.84265890202e-05,-0.000233261752828,-5.61855756093e-05,1793250254517981952
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,746.354420365,720,692.354420365,664.354420365,640,889.645579635,787,818.354420365,654,631,656,0.445320040466,0.00444166527337,0.059830921255,0.9999999617,-1.01658221928e-05,-0.000270929422902,-5.56195455134e-05,1793250254534648320
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.927260372,720,692.927260372,664.927260372,640,889.072739628,787,818.927260372,654,631,656,0.445941658838,0.00444308062921,0.059811671359,0.999999948351,-3.97568096484e-06,-0.000316658333349,-5.48652245265e-05,1793250254551314944
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.503112451,746.496887549,720,693,664.496887549,640,889.503112451,787,819,654,631,656,0.446544740347,0.00444801067368,0.0597840983864,0.999999936432,2.40362131374e-06,-0.000352081152597,-5.63009871786e-05,1793250254567981568
+194,3.233333333,POSE1_TO_POSE2_PRESS,769.918389293,746.081610707,720,693,663.918389293,639.918389293,890,786.918389293,819,654,631,656,0.447148533089,0.00445666185239,0.05976139729,0.999999926834,1.21486040245e-05,-0.000377894717028,-5.81290797542e-05,1793250254584648192
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.326073328,746.673926672,720,693,663.326073328,639.326073328,890,786.326073328,819,654,631,656,0.447773648852,0.00448540015461,0.0597767591951,0.999999934971,4.27832405832e-05,-0.000352955888305,-6.04188880347e-05,1793250254601314816
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746.740735847,720,692.740735847,663,639,889.740735847,786.259264153,819.259264153,654,631,656,0.448362530542,0.00450930923144,0.0597851750325,0.999999938322,6.78755239529e-05,-0.000338720693248,-6.33882629802e-05,1793250254617981952
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746.163945114,720,692.163945114,663,639,889.163945114,786.836054886,819.836054886,654,631,656,0.448907035511,0.00452730384632,0.059785083865,0.999999937044,8.61799617952e-05,-0.000337594478885,-6.71899182547e-05,1793250254634648832
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,746,720,692,662.58964204,639,889,786.58964204,819.58964204,654,631,656,0.449383512801,0.00452605186249,0.0597552037646,0.999999919345,8.27328960765e-05,-0.000387044838378,-6.82795421669e-05,1793250254651315712
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,746,720,692,662.016326791,639,889,786.016326791,819.016326791,654,631,656,0.449832975659,0.00451715686153,0.0597134941784,0.99999989094,7.06480899092e-05,-0.000456579664187,-6.82921910816e-05,1793250254667982336
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.572989588,746.572989588,720,692.572989588,662,638.427010412,889,786,819,654,631,656,0.450254288628,0.00452099847432,0.0596780073659,0.999999867202,7.10980708555e-05,-0.000505345828622,-7.18860409279e-05,1793250254684648704
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+202,3.366666667,POSE1_TO_POSE2_PRESS,769.260607559,746.260607559,720,693.739392441,661.260607559,638,889,786.739392441,819,654,631,656,0.451120845769,0.00452312827995,0.0596582630765,0.999999856391,6.64980004614e-05,-0.000526187233205,-7.69561552073e-05,1793250254717982208
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+204,3.400000000,POSE1_TO_POSE2_PRESS,769.895679091,746.895679091,720,693.104320909,660.104320909,637.104320909,889.895679091,786.104320909,819,654,631,656,0.451944767794,0.00452189596336,0.0596913148076,0.999999884849,5.47885884465e-05,-0.000469999737457,-7.99991832831e-05,1793250254751315712
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.532234471,747,720,692.532234471,660,637,890,786,819,654,631,656,0.452294618214,0.00452409058772,0.0596975464116,0.99999989079,-3.36406520508e-05,-0.000459084702055,-8.08046347062e-05,1793250254767982336
+206,3.433333333,POSE1_TO_POSE2_PRESS,769.040101633,747,720,692,660,637.040101633,890,786,819,654,631,656,0.452628430468,0.0045270384027,0.0596997446729,0.999999885245,-0.000128000510863,-0.00045466004165,-8.00603118735e-05,1793250254784648960
+207,3.450000000,POSE1_TO_POSE2_PRESS,769.633116112,747,720,692,660,637.633116112,890,786,819,654,631,656,0.452904624939,0.00453192531013,0.0596881547944,0.999999885099,-5.48347076473e-05,-0.00047245934221,-5.98122025091e-05,1793250254801315328
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+209,3.483333333,POSE1_TO_POSE2_PRESS,769.202558138,747,720,692.797441862,659.202558138,637.202558138,889.202558138,786,819.797441862,654,631,656,0.453401284319,0.00455758418384,0.059654381373,0.999999856572,5.13179921992e-06,-0.000532576317601,-5.65072862048e-05,1793250254834648320
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,747,720,693.374062082,659,637,889,786,820,654,631,656,0.453620332188,0.00457082960887,0.0596429666164,0.999999844949,1.43712723438e-05,-0.000553262235494,-6.16172518052e-05,1793250254851314688
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,747,720,693.950313527,659,637,889,786,820,654,631,656,0.453830298442,0.00458237705538,0.0596357919044,0.999999837439,2.28524428795e-05,-0.000565914197393,-6.58805882463e-05,1793250254867981312
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,746.463741266,720,693.463741266,659,636.463741266,889.536258734,786,820,654,631,656,0.454024182671,0.00457848436283,0.0596408328506,0.999999842572,1.47266193327e-05,-0.000556937345092,-6.67753420155e-05,1793250254884648192
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+222,3.700000000,POSE1_TO_POSE2_PRESS,769,747,720,693,657,636,890,786,820.339518443,654,631,656,0.455103485967,0.00457325370019,0.0596259892839,0.999999836275,-2.06931483576e-06,-0.000567494671389,-7.345720867e-05,1793250255051314688
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,747,720,693,657,636,890,786,820.914390833,654,631,656,0.455150554751,0.00457327121161,0.0596287257786,0.999999838622,-1.72000585388e-07,-0.000563407324645,-7.29993153118e-05,1793250255067981824
+224,3.733333333,POSE1_TO_POSE2_PRESS,769.490240087,746.509759913,720,693,657,636,890,786,820.509759913,654,630.509759913,656,0.455182581381,0.00457453611764,0.0596291644137,0.999999838977,9.60079417187e-07,-0.00056270760028,-7.35164241129e-05,1793250255084648448
+225,3.750000000,POSE1_TO_POSE2_PRESS,769.93194661,746,720,693.06805339,657,636,890,786,820,654,630.06805339,656,0.455210456844,0.00457574784323,0.05962898283,0.999999838829,1.88702349409e-06,-0.000562899210622,-7.40506544218e-05,1793250255101315072
+226,3.766666667,POSE1_TO_POSE2_PRESS,769.340337979,746,720,693.659662021,657,636,890,786,820,654,630.659662021,656,0.455226644997,0.0045748712678,0.0596271229576,0.999999837472,2.26590853157e-06,-0.000565387911199,-7.34041159536e-05,1793250255117981440
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,746,720,693.75522037,657,636,889.75522037,786,820,654,631,656,0.455238955927,0.00457485579887,0.059624314443,0.999999835264,2.84374653917e-06,-0.000569288241579,-7.33195041997e-05,1793250255134647808
+228,3.800000000,POSE1_TO_POSE2_PRESS,769,746,720,693.178894673,657,636,889.178894673,786,820,654,631,656,0.455246015282,0.0045760066708,0.0596202210236,0.999999831885,3.69105986655e-06,-0.000575100578563,-7.39960039849e-05,1793250255151314688
+229,3.816666667,POSE1_TO_POSE2_PRESS,769,746,720.394428493,693,657,636,889.394428493,786,820,654,631,656,0.455253142101,0.00457467763988,0.059619511821,0.9999998311,1.44097986943e-06,-0.000576511967641,-7.36993799816e-05,1793250255167981312
+230,3.833333333,POSE1_TO_POSE2_PRESS,769,746,720.966400122,693,657,636,889.966400122,786,820,654,631,656,0.455260299286,0.00457223233631,0.0596203259477,0.999999831481,-2.20332225601e-06,-0.000575942368609,-7.29647261215e-05,1793250255184648192
+231,3.850000000,POSE1_TO_POSE2_PRESS,769,746.557032681,720.442967319,693.557032681,657,636,890,786,820,653.442967319,631,656,0.455260862282,0.00457380311751,0.0596187180837,0.999999830243,-6.49081658124e-07,-0.000578074790253,-7.31002192621e-05,1793250255201315072
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.145662647,747,720,694,657,636,890,786,820.145662647,653.145662647,631,656,0.455261141678,0.00457531621983,0.0596168875865,0.999999828984,1.55199161119e-06,-0.000580228629699,-7.32463580065e-05,1793250255217981952
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.724865784,747,720,694,657,636,890,786,820.724865784,653.724865784,631,656,0.455261801882,0.00457591164864,0.0596148443521,0.999999827976,4.71260643959e-06,-0.000581944305547,-7.32625487629e-05,1793250255234648832
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.69615211,746.69615211,720,693.69615211,657,636,890,786,820.69615211,654,631,656,0.455262833093,0.00457586346868,0.059614361462,0.99999982746,6.33751102135e-06,-0.000582857372922,-7.29148111337e-05,1793250255251315456
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.117369938,746.117369938,720,693.117369938,657,636,890,786,820.117369938,654,631,656,0.455264200004,0.00457523292462,0.0596152904365,0.999999827399,6.57284108315e-06,-0.000583044206771,-7.22377758782e-05,1793250255267982080
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.455931683,746.455931683,720,693.455931683,657,636,890,786,820,654,631,656,0.455264957077,0.0045755724381,0.0596153371073,0.999999827412,6.7482128743e-06,-0.000583008588835,-7.23334304148e-05,1793250255284648704
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.971320553,747,720,693.971320553,657,636,890,786,820,654,631,656,0.455265580001,0.00457611622745,0.0596151543344,0.999999827451,6.88119251404e-06,-0.000582906527191,-7.25954780455e-05,1793250255301315328
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.382151144,747,720,693.382151144,657,636,890,786,820,654,631,656,0.455266612864,0.00457582984472,0.0596148736277,0.999999827649,6.48375842291e-06,-0.000582611800049,-7.22681626149e-05,1793250255317981952
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.203961598,747,720,693,657,636,890,786,820,654.203961598,630.796038402,656,0.455266574812,0.00457537013841,0.0596140207401,0.999999827188,6.07497033364e-06,-0.00058344902323,-7.19345566317e-05,1793250255334648832
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.784431762,747,720,693,657,636,890,786,820,654.784431762,630.215568238,656,0.455264559872,0.00457459048066,0.0596121116197,0.999999825503,5.64522304047e-06,-0.00058637580151,-7.15893384478e-05,1793250255351315968
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.637535479,747,720,693.362464521,657,636,890.362464521,786,820,654.637535479,630,656,0.455265252801,0.00457528863564,0.0596127535406,0.999999825998,6.70057169229e-06,-0.000585465308687,-7.20411346669e-05,1793250255367982592
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.060942655,747,720,693.939057345,657,636,890.939057345,786,820,654.060942655,630,656,0.45526754542,0.00457685981826,0.0596149025061,0.999999827771,8.63325057687e-06,-0.000582287922558,-7.29637724092e-05,1793250255384649216
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.525286828,747,720,694,657,636,890.474713172,786,820,654.525286828,630.525286828,656,0.45526841756,0.00457589635403,0.0596150695614,0.999999827952,5.5640864513e-06,-0.000582025092864,-7.28850979871e-05,1793250255401315584
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,720.111096005,693.888903995,657.111096005,636,890,786,820,654.888903995,631,655.888903995,0.455268681474,0.00457472187037,0.0596146743294,0.999999827616,2.69616574205e-06,-0.000582654353343,-7.26201002989e-05,1793250255417981952
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,747,720.690334671,693.309665329,657.690334671,636,890,786,820,654.309665329,631,655.309665329,0.455267089838,0.00457392048387,0.0596128967283,0.999999825939,3.16727027182e-06,-0.000585591249417,-7.20686356574e-05,1793250255434648320
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,720.73164057,693,657.73164057,636,890,786,820.26835943,654,631,655.26835943,0.455265896434,0.00457399733921,0.0596120200023,0.999999825023,4.71425946559e-06,-0.000587206667218,-7.15540920481e-05,1793250255451314944
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,747,720.155010182,693,657.155010182,636,890,786,820.844989818,654,631,655.844989818,0.455265160488,0.00457508305205,0.0596121781331,0.999999824983,7.49714342082e-06,-0.000587304071387,-7.10819604497e-05,1793250255467981824
+248,4.133333333,HOLD_POSE2,769,747,720,694,657,635,891,787,820,654,631,656,0.455267499931,0.00457705284938,0.0596120012312,0.999999825816,1.0783962608e-05,-0.000585696150571,-7.21934795208e-05,1793250255501481216
+249,4.150000000,HOLD_POSE2,769,746.411505909,720,693.411505909,657,635.588494091,890.411505909,786.411505909,820,654,631,656,0.455267662651,0.00457611445547,0.0596122542122,0.999999825855,9.67578835628e-06,-0.000585715907664,-7.16450737353e-05,1793250255518147584
+250,4.166666667,HOLD_POSE2,769.174450069,746.174450069,720,693,657,635.825549931,889.825549931,786,820,654,631,656,0.455268023009,0.00457492307301,0.0596127064734,0.999999826083,8.89112169292e-06,-0.000585392339227,-7.12148318119e-05,1793250255534814208
+251,4.183333333,HOLD_POSE2,769.754504929,746.754504929,720,693,657,635.245495071,889.245495071,786,820,654,631,656,0.455268842886,0.00457314347988,0.0596136220707,0.99999982675,8.85862549448e-06,-0.000584270522439,-7.10593264363e-05,1793250255551480576
+252,4.200000000,HOLD_POSE2,770,746.667598898,720,693.332401102,657,635,889.332401102,786,820,654,631,656,0.455268953454,0.00457334205921,0.0596131079333,0.99999982633,8.32034349806e-06,-0.000584979860234,-7.12016583471e-05,1793250255568147200
+253,4.216666667,HOLD_POSE2,770,746.091286772,720,693.908713228,657,635,889.908713228,786,820,654,631,656,0.455268543542,0.00457499219241,0.0596115446777,0.999999825108,7.4109233499e-06,-0.000587032872302,-7.15625388722e-05,1793250255584813568
+254,4.233333333,HOLD_POSE2,769.515278926,746.484721074,720.484721074,693.515278926,657,635,890,786,820,654,630.515278926,656,0.455268970244,0.00457620198093,0.0596124581281,0.999999825333,9.19839126255e-06,-0.000586646141888,-7.13881485633e-05,1793250255601480192
+255,4.250000000,HOLD_POSE2,769,746.938012152,721,693,657,635.061987848,890,786,820.061987848,654,630.061987848,656,0.455269553242,0.00457704087488,0.0596136811468,0.999999825803,1.07719908955e-05,-0.000585841764419,-7.11907393031e-05,1793250255618146816
+256,4.266666667,HOLD_POSE2,769,746.349567029,721,693,657,635.650432971,890,786,820.650432971,654,630.650432971,656,0.455270126356,0.00457543366466,0.059613574403,0.999999826073,6.2183763549e-06,-0.000585390162376,-7.16534376311e-05,1793250255634813440
+257,4.283333333,HOLD_POSE2,769.235490333,746.235490333,721,693,657,636,890,786,820.764509667,654.235490333,630.764509667,656,0.455270104253,0.0045749096678,0.0596131630764,0.999999826052,5.20264539438e-06,-0.000585410734648,-7.18525310103e-05,1793250255651480064
+258,4.300000000,HOLD_POSE2,769.815590095,746.815590095,721,693,657,636,890,786,820.184409905,654.815590095,630.184409905,656,0.455269211129,0.00457597081272,0.0596123060326,0.999999825618,9.36414661539e-06,-0.000586122272575,-7.16658728439e-05,1793250255668147200
+259,4.316666667,HOLD_POSE2,770,747,721,693.391955961,657,636,890,786,820,654.608044039,630.391955961,656,0.455270303248,0.00457631328802,0.0596130000199,0.999999826302,1.03633255216e-05,-0.000584952994585,-7.15416172581e-05,1793250255684813824
+260,4.333333333,HOLD_POSE2,770,747,721,693.966581709,657,636,890,786,820,654.033418291,630.966581709,656,0.455272320583,0.0045763208298,0.0596144168601,0.999999827508,9.88871488076e-06,-0.000582907168586,-7.14464441733e-05,1793250255701480704
+261,4.350000000,HOLD_POSE2,770,746.457214361,721,694,657,635.457214361,890,786,820,654,631,656,0.455270906767,0.00457630166993,0.0596137073554,0.99999982668,9.77541321503e-06,-0.000584324408439,-7.1474729628e-05,1793250255718147328
+262,4.366666667,HOLD_POSE2,769.877741275,746.122258725,721,694,657,635.122258725,889.877741275,786,820.122258725,654,631,656,0.455269608803,0.00457640112473,0.0596130026411,0.999999825882,9.78153659758e-06,-0.000585684857672,-7.15074303445e-05,1793250255734813696
+263,4.383333333,HOLD_POSE2,769.286090788,746.713909212,721,694,657,635.713909212,889.286090788,786,820.713909212,654,631,656,0.455269569053,0.00457696231072,0.0596128204105,0.999999825689,1.01605168788e-05,-0.00058600628138,-7.15278144464e-05,1793250255751480064
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,747,721,694,657,635,890,786,820,654,631,656,0.455268825015,0.00457564057018,0.0596117013305,0.999999824853,8.92782555899e-06,-0.000587560070647,-7.06265685082e-05,1793250255788767744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.421821744,747,720.421821744,694,657,635,890,786,820,654,631,656,0.4552706007,0.00457761125958,0.0596134003967,0.999999825905,1.21333325016e-05,-0.000585648147774,-7.11257167179e-05,1793250255805434624
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,747,720.160144733,694,657,635,890,786,820.160144733,654.160144733,630.839855267,656.160144733,0.455271558022,0.00457846549015,0.0596142490008,0.999999826457,1.39092658101e-05,-0.000584623376462,-7.14651813605e-05,1793250255822101504
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,747,720.752331281,694,657,635,890,786,820.752331281,654.752331281,630.247668719,656.752331281,0.455270307547,0.00457630771508,0.0596128032106,0.99999982569,1.18284661227e-05,-0.000585991980816,-7.13738484426e-05,1793250255838767360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.336875652,747,720.663124348,693.663124348,657,635,890,786,820.663124348,654.663124348,630.336875652,656.663124348,0.455269860083,0.0045756517175,0.0596124676576,0.999999825441,1.04491770808e-05,-0.00058644433946,-7.13521659708e-05,1793250255855433984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.915926139,747,720.084073861,693.084073861,657,635,890,786,820.084073861,654.084073861,630.915926139,656.084073861,0.455269989891,0.00457607532528,0.0596129302375,0.999999825569,9.574193609e-06,-0.000586238022773,-7.13805541619e-05,1793250255872100608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,747,720.49215642,693.49215642,657,635,890,786,820,654,631,656,0.455269470726,0.00457561077136,0.0596122774257,0.999999825314,8.41448379496e-06,-0.000586692657688,-7.13653885962e-05,1793250255888766976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,746.93214278,721,694,657,635.06785722,890.06785722,786,820.06785722,654.06785722,631,656,0.455268919207,0.00457516484625,0.0596115374454,0.999999825013,7.45058064683e-06,-0.000587221122107,-7.13384161208e-05,1793250255905433344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,746.356819304,721,694,657,635.643180696,890.643180696,786,820.643180696,654.643180696,631,656,0.455268950091,0.00457598641828,0.0596115624014,0.999999824869,8.31267831633e-06,-0.000587462145866,-7.12784702924e-05,1793250255922099968
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.77639473,746.22360527,720.77639473,694,657,635.77639473,890.77639473,786,820.77639473,654.77639473,631,656,0.455265186843,0.00457672655728,0.0596095806342,0.999999823036,9.86099791931e-06,-0.000590553901611,-7.12567739644e-05,1793250255938767104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.187640074,746.812359926,720.187640074,694,657,635.187640074,890.187640074,786,820.187640074,654.187640074,631,656,0.455255227744,0.00457733371535,0.0596043218703,0.999999818398,1.25299239364e-05,-0.000598300927906,-7.12975394123e-05,1793250255955434240
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.972583719,747,720.972583719,694,657,635,890,786.972583719,820,654,631,656,0.455201371251,0.00457744969683,0.0595807146619,0.999999793318,1.14860519814e-05,-0.000638833914555,-7.15709060418e-05,1793250255988767232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,746.450800172,720.450800172,693.450800172,657,635.549199828,890,786.450800172,820,654,631,656,0.455147652944,0.00457781178382,0.0595623061981,0.999999771867,1.28801029811e-05,-0.000671564424229,-7.14278777575e-05,1793250256005433600
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,720,693,657,636,890,786,819.938543042,654,631,656,0.453907655245,0.00458556183948,0.0595300910729,0.999999733385,4.05295869124e-05,-0.000726390837125,-6.27995398724e-05,1793250256188766976
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.609425748,747,720,687.390574252,665.781148505,640.609425748,887,788,818,653.390574252,630.390574252,656,0.423291382607,0.0045756944302,0.0598460248266,0.999999946484,0.000207270978048,-0.000251056746718,3.2267428955e-05,1793250256955433472
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746.211154532,720,687,666.577690936,641,886.211154532,787.211154532,818,653,630,656,0.421450023935,0.00456075374484,0.0598408740578,0.999999949301,0.000181217673777,-0.000259540304346,3.46035611172e-05,1793250256988766976
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746,720,687,666.257462842,641,886,787.371268579,817.628731421,653,630.371268579,655.628731421,0.420497885388,0.00456604848982,0.0597933483481,0.999999924335,0.000181971944341,-0.000342151059948,3.38975054818e-05,1793250257005433600
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.106631523,641,886,787.946684238,817.053315762,653,630.946684238,655.053315762,0.419534582489,0.00457139547648,0.0597257003482,0.999999877764,0.000182020123527,-0.000458540766911,3.28706708326e-05,1793250257022100224
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,720,687.520639693,665,641,886,788,817.520639693,653,630.479360307,655,0.418701863697,0.00456503268486,0.0597279892514,0.99999989278,0.000162123428494,-0.000432651216975,3.11430271261e-05,1793250257038766848
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,720,687.902628804,665.194742392,641,886,787.902628804,818,653,630.097371196,655,0.417884512692,0.00455960316909,0.0597436272613,0.999999913544,0.000144198872789,-0.000388874088917,2.99366900547e-05,1793250257055433472
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,720,687.311050679,666.377898643,641,886,787.311050679,818,653,630.688949321,655,0.417077479211,0.00456497965546,0.0597907703589,0.999999934938,0.000146621307244,-0.000328051856509,3.17394704911e-05,1793250257072100096
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,666.451030547,641,886,787,817.725515273,653,630.725515273,655.274484727,0.416276992417,0.00456527049418,0.0598242411632,0.999999947251,0.000143483291371,-0.000289414544496,3.3897446628e-05,1793250257088766976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.293360228,641,886,787,817.146680114,653,630.146680114,655.853319886,0.415483764685,0.00455992233369,0.0598425520378,0.999999952418,0.000134179812642,-0.000275376020043,3.64492660179e-05,1793250257105433600
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.431563649,641,886,787,817,653,630,655.568436351,0.414710849778,0.0045579722589,0.0598455335908,0.999999954445,0.000134715126291,-0.00026765157526,3.63897250548e-05,1793250257122100224
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,720,686.99046342,666,641,886,787,817.00953658,653,630,655.00953658,0.413944735592,0.00455722612032,0.0598430981133,0.999999955088,0.000139809025162,-0.000262716282328,3.54702503324e-05,1793250257138767104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,720,686.416641238,666,641,886,787,817.583358762,653,630,655.583358762,0.413173076826,0.00455947244044,0.059827998858,0.999999931984,0.000217040604133,-0.000296008531846,3.61130258777e-05,1793250257155433728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,745.842863377,720,686,665.685726754,641,886,787,817.842863377,653,630,656,0.41240522873,0.00456013443532,0.059803268061,0.999999905153,0.000268509663379,-0.000341017037026,3.6104940079e-05,1793250257172100096
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,745.269202875,720,686,664.53840575,641,886,787,817.269202875,653,630,656,0.411647481456,0.0045565968413,0.0597530068206,0.999999880757,0.000251689730328,-0.000417081968723,3.43716091031e-05,1793250257188766720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745,720,686,664.314328984,641,886,787,817.314328984,653,630.314328984,656,0.410955238907,0.00455521274204,0.0597430609651,0.999999879559,0.000239641027703,-0.000427025478334,3.32246368577e-05,1793250257205433600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745,720,686,664.906589109,641,886,787,817.906589109,653,630.906589109,656,0.410320915983,0.00455573277301,0.0597687621621,0.999999900968,0.000231811070594,-0.000378504117561,3.25961258859e-05,1793250257222100224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745,720,686,665.48469855,641,885.51530145,787.48469855,817.51530145,653,630.51530145,656,0.409730052951,0.0045520958727,0.059810300966,0.999999926353,0.000216851615997,-0.000314831559729,3.39072904081e-05,1793250257238767104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745,720,685.940119948,665.880239896,641,885.059880052,788,817,653,630.059880052,656,0.409147575464,0.00454794984587,0.0598508922279,0.999999946771,0.000201099545758,-0.000254480291301,3.545287986e-05,1793250257255434240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745,720,685.367321305,664.734642609,641,885.632678695,788,817,653,630.632678695,656,0.408567218497,0.00454611032547,0.0598579641247,0.999999950832,0.000189993574571,-0.000246880390016,3.5895331187e-05,1793250257272100608
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787.786349851,817.213650149,653,630.786349851,655.786349851,0.407990024212,0.0045444394962,0.0598561874772,0.999999952231,0.000179774724371,-0.000248892404842,3.56489534496e-05,1793250257288766976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787.190768349,817.809231651,653,630.190768349,655.190768349,0.40741848375,0.00454307022756,0.0598385927426,0.999999948836,0.000171141735796,-0.000268087147235,3.41711914669e-05,1793250257305433600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.393477152,719.606522848,685,664.393477152,641,885.606522848,787.393477152,817.606522848,653,630.393477152,655.393477152,0.406893083852,0.0045416207643,0.0598283766859,0.999999947485,0.000161987539701,-0.000278708728471,3.33289502092e-05,1793250257322100224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.972380609,719.027619391,685,664.972380609,641,885.027619391,787.972380609,817.027619391,653,630.972380609,655.972380609,0.406389427667,0.00454013350917,0.0598216378334,0.999999947126,0.000152587723544,-0.00028529020492,3.27861982816e-05,1793250257338766848
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,746,719,685,665,641,885,787.451937408,817,653.548062592,630.451937408,656,0.405935069097,0.00454070242764,0.0598252285302,0.999999949618,0.000149519181786,-0.000278129260812,3.24432081193e-05,1793250257355433472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745.876739036,719.123260964,685,665,641,885,787,817,653.876739036,630,655.876739036,0.405489305314,0.00454026981241,0.0598270834629,0.999999951388,0.000145328107409,-0.00027397862075,3.22368890839e-05,1793250257372100096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745.302718827,719.697281173,685,665,641,885,787,817,653.302718827,630,655.302718827,0.405065940126,0.00453579791921,0.0598206982796,0.999999950097,0.000135872010411,-0.000283354309915,3.24937704304e-05,1793250257388767232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.719157082,745.280842918,720,685,664.719157082,640.719157082,885,787.280842918,817,653,630,655.280842918,0.4046455137,0.00453368681089,0.0598044017832,0.999999942863,0.000130537836227,-0.000310105305672,3.26898869022e-05,1793250257405434112
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.124948901,745.875051099,720,685,664.124948901,640.124948901,885,787.875051099,817,653,630,655.875051099,0.404228366376,0.0045342098728,0.0597770462181,0.999999927582,0.000129802914705,-0.000356243713085,3.28182017058e-05,1793250257422100736
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.455192025,746,720,684.544807975,664.455192025,640.455192025,884.544807975,788,817,653.455192025,630,656,0.403877510294,0.00453325387769,0.0597653402594,0.999999922174,0.000129264147553,-0.000371239709972,3.35174425157e-05,1793250257438767616
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745.968471977,719.968471977,684.031528023,665.031528023,640.968471977,884.031528023,787.968471977,817.031528023,653.968471977,630,656,0.403548559244,0.00453186699405,0.0597595338264,0.999999920706,0.000128685606399,-0.000375293991054,3.43955540198e-05,1793250257455434240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745.393158014,719.393158014,684.606841986,665.606841986,640.393158014,884.606841986,787.393158014,817.606841986,653.393158014,630,656,0.403292975909,0.00452984086826,0.059783609561,0.999999935696,0.000126520211873,-0.000333650881003,3.57367863076e-05,1793250257472100608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,719.186688496,684.813311504,665.813311504,640.186688496,884.813311504,787,817.813311504,653.186688496,630,656,0.403047208161,0.00452830963187,0.059806923781,0.999999948111,0.000125302240828,-0.00029445619471,3.70522008905e-05,1793250257488767232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,719.776317797,684.223682203,665.223682203,640.776317797,884.223682203,787,817.223682203,653.776317797,630,656,0.402822626008,0.00452784654478,0.0598285943759,0.99999995737,0.000126129150405,-0.000260546092193,3.83118915084e-05,1793250257505433600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,665,641,884,787,817,653.640924127,630,655.640924127,0.402595586349,0.00452738600544,0.0598369200764,0.999999960229,0.000125044121961,-0.000249700688961,3.94445114436e-05,1793250257522099968
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,665,641,884,787,817,653.062365976,630,655.062365976,0.402367044537,0.00452692702334,0.059837088818,0.999999959648,0.000122790436708,-0.000252953397046,4.04994605722e-05,1793250257538766848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.488396657,745.511603343,720,684,665,641,884,787,817.511603343,653.511603343,630,655.511603343,0.402166486855,0.00452591519417,0.0598293709228,0.999999955668,0.000120259452648,-0.00026937203785,4.05006508501e-05,1793250257555433728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.085438334,745.914561666,719.914561666,684,665,641,884,787,817.914561666,653.914561666,630,655.914561666,0.401975657782,0.00452460988614,0.0598218113339,0.999999952515,0.000109046752172,-0.000285702090428,3.81088048233e-05,1793250257572100608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.661686831,745.338313169,719.338313169,684,665,641,884,787,817.338313169,653.338313169,630,655.338313169,0.401821293059,0.00452200236437,0.0598206349494,0.999999955838,4.81534120721e-05,-0.000292385296502,2.2701263342e-05,1793250257588767488
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,719.244156385,684,665,641,884,787,817.244156385,653.244156385,630.244156385,655.244156385,0.401683249767,0.00451829261064,0.0598218653097,0.999999957185,1.07998807027e-05,-0.000292065138699,1.4518557755e-05,1793250257605433856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,719.83547144,684,665,641,884,787,817.83547144,653.83547144,630.83547144,655.83547144,0.401568413438,0.00451301562638,0.0598265177487,0.999999960136,6.91690400267e-06,-0.000281787107901,1.66086315175e-05,1793250257622100480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.418231207,665,641,884,787,818,654,630.581768793,656,0.401464018127,0.00451321787453,0.0598291794182,0.999999960754,9.36415316534e-06,-0.000279449485219,1.76967527587e-05,1793250257638766848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.99769285,665,641,884,787,818,654,630.00230715,656,0.40136364789,0.00451553239711,0.059831073635,0.999999960481,1.42517393814e-05,-0.000280172933877,1.83986157319e-05,1793250257655433216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.429670715,665.570329285,641,884,787,817.429670715,654,630.570329285,655.429670715,0.401290325136,0.00451332416076,0.0598310734398,0.999999960828,1.54777551059e-05,-0.000278781687895,1.96412364971e-05,1793250257672100096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.856106256,641,884,787,817,653.856106256,630.856106256,655,0.401219861566,0.00451211104004,0.0598299605023,0.999999960548,1.71126376104e-05,-0.000279619631289,2.0598237581e-05,1793250257688766720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.279670256,641,884,787,817,653.279670256,630.279670256,655,0.401157667657,0.00451394356793,0.0598255254431,0.999999958348,2.00205652713e-05,-0.000287183892717,2.0690172421e-05,1793250257705433600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.306388266,640.693611734,884,787,817,653,630,655,0.401105576823,0.00451457182765,0.0598222926078,0.999999956584,2.25540475342e-05,-0.000293060473871,2.09441812526e-05,1793250257722100224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.901515063,640.098484937,884,787,817,653,630,655,0.40106300706,0.00451406519225,0.0598201927408,0.999999955259,2.47346549575e-05,-0.000297346595774,2.13509276884e-05,1793250257738766848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,665.52003878,640,884,787,817.47996122,653,630.47996122,655,0.40103472566,0.00451322472007,0.0598209666283,0.999999955557,2.4785510652e-05,-0.000296313955024,2.16565817572e-05,1793250257755433472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745.05504572,720,684,665.05504572,640,884,787,817.94495428,653,630.94495428,655,0.401010456506,0.00451237868424,0.0598223988373,0.999999956237,2.45741843459e-05,-0.000294004838734,2.19608342889e-05,1793250257772100352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745.62962228,720,684,665.62962228,640,884,787,817.37037772,653,630.37037772,655,0.40099731342,0.00451210494771,0.0598246658625,0.999999957479,2.58743942283e-05,-0.000289602752897,2.24410640634e-05,1793250257788766976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745.790139592,720,684,665.790139592,640.209860408,884,787,817.209860408,653.209860408,630,655,0.400985382498,0.00451147588989,0.0598261068222,0.999999958288,2.58703549114e-05,-0.00028676907316,2.27642099024e-05,1793250257805433856
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745.199632494,720,684,665.199632494,640.800367506,884,787,817.800367506,653.800367506,630,655,0.400975650211,0.00451020234716,0.0598260494569,0.999999958342,2.35006566344e-05,-0.000286780182733,2.28024354638e-05,1793250257822100992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,719.619112069,684,665,641,884.380887931,787,818,654,630,655.380887931,0.400969297183,0.00451068323998,0.0598266103503,0.999999958555,2.43561519702e-05,-0.000285978533952,2.26303252613e-05,1793250257838767616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,719.043692183,684,665,641,884.956307817,787,818,654,630,655.956307817,0.400964670053,0.0045120601806,0.0598274870086,0.999999958845,2.68588595088e-05,-0.000284761782829,2.23507896861e-05,1793250257855433984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745,719.533770119,684,665,641,885,787,817.466229881,653.466229881,630,656,0.400962929373,0.00451010524729,0.0598277019557,0.999999959063,2.43066051801e-05,-0.000284221537026,2.23901335931e-05,1793250257872100864
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55b579ee879d65f1bb6245490533a82d9885066c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575665397629,0.0101500773658,1.05003335236,0.546236077247,0.0188227151665,1.04970475038
+396,6.600000000,pose2_to_pose3_retreat,0.57566533406,0.0101500792356,1.05003333732,0.546236013597,0.0188227167685,1.04970473553
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6a27598647c268b89249739b31ddd12fe842b30
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec9481407d7c6b77965acb489e35acd844128f3762194ca85a807db06e5f77f
+size 26096471
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d442f124e1c2c9bcf304ed71333f4421a62cc531
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+10,0.166666667,BASELINE,769,745,720,684,666,640.216834922,884.216834922,787,817.783165078,653,630,655.783165078,0.400964304096,0.00450933565857,0.0598383798312,0.999999944868,0.000195934980441,-0.000267198574537,2.18876759249e-05,1793250258511340288
+11,0.183333333,BASELINE,769,745.367896186,719.632103814,684,665.632103814,640.367896186,884,787,817.632103814,653,630,656,0.400963335538,0.00450868710073,0.0598377054868,0.99999994477,0.000194853229966,-0.000268346820426,2.1946248601e-05,1793250258528006656
+12,0.200000000,BASELINE,769,745.958277814,719.041722186,684,665.041722186,640.958277814,884,787,817.041722186,653,630,656,0.400960719284,0.00450865320755,0.0598359612963,0.999999944073,0.000194125864578,-0.000271444761502,2.20698178739e-05,1793250258544673280
+13,0.216666667,BASELINE,769,746,719.537581973,684,665.537581973,641,884,787,817.537581973,653.537581973,630,655.462418027,0.400961801057,0.00450934331829,0.0598367468513,0.999999944022,0.0001960955788,-0.000270219610125,2.19827331373e-05,1793250258561339904
+14,0.233333333,BASELINE,769,745.88447915,720,684,665.88447915,641,884,787,818,654,630,655,0.400962815877,0.00450984565583,0.0598374941731,0.999999944013,0.000197784264821,-0.000269029126236,2.18921684212e-05,1793250258578006784
+15,0.250000000,BASELINE,769,745.308623819,720,684,665.308623819,641,884,787,818,654,630,655,0.400962443307,0.00450938035284,0.0598373225666,0.999999943993,0.00019753581288,-0.000269286788681,2.18515697064e-05,1793250258594673152
+16,0.266666667,BASELINE,769,745,720,684,665.265952054,640.734047946,884,787,817.734047946,653.734047946,630,655.265952054,0.400962800885,0.00450901212825,0.059837656496,0.99999994426,0.000197002866551,-0.00026867853593,2.19257067794e-05,1793250258611339520
+17,0.283333333,BASELINE,769,745,720,684,665.839050257,640.160949743,884,787,817.160949743,653.160949743,630,655.839050257,0.400964001704,0.00450875601883,0.0598385742653,0.999999944856,0.000196141359676,-0.000267070243818,2.21323514053e-05,1793250258628006144
+18,0.300000000,BASELINE,769.426242812,745,720,684,665.573757188,640.426242812,884.426242812,787,817.426242812,653,630,655.573757188,0.400963541324,0.00450864144042,0.0598382646967,0.99999994491,0.000195163063437,-0.000267579918821,2.22107471132e-05,1793250258644672768
+19,0.316666667,BASELINE,769.981529181,745,720,684,665.018470819,641,884.981529181,787,817.981529181,653,630,655,0.400962470656,0.00450858631022,0.0598374794101,0.999999944738,0.000194238269656,-0.000268889046787,2.2235568726e-05,1793250258661339392
+20,0.333333333,BASELINE,769.40349638,745,720,684,665.59650362,641,884.40349638,787,817.40349638,653,630,655,0.400962564281,0.00450865776097,0.0598368024165,0.999999944207,0.000196315961324,-0.000269360752924,2.21546297378e-05,1793250258678006272
+21,0.350000000,BASELINE,769,745,720,684,666,641,884.347671143,787,817,653.173835572,630,655.173835572,0.400962394258,0.00450913870033,0.059836483534,0.999999943802,0.000197862725906,-0.000269754270768,2.18740970066e-05,1793250258694672896
+22,0.366666667,BASELINE,769,745,720,684,666,641,885.499094411,787,817,653.749547206,630,655.749547206,0.400961614727,0.00451056630249,0.0598369925389,0.999999943698,0.000198182083836,-0.000269967031507,2.11321400411e-05,1793250258711339520
+23,0.383333333,BASELINE,769,745,720,684,666,640.676794804,885.353589609,787,817,654,630,655.676794804,0.400961848962,0.00451094904176,0.0598374027142,0.999999943997,0.000197261747576,-0.000269524113073,2.12262407738e-05,1793250258728006400
+24,0.400000000,BASELINE,769,745,720,684,666,640.104718081,884.209436163,787,817,654,630,655.104718081,0.400962863807,0.00451052722533,0.0598377367899,0.999999944604,0.000195386833298,-0.000268576314541,2.19641149775e-05,1793250258744673024
+25,0.416666667,BASELINE,769,745,720,684,666,640.487772575,884,787,817.487772575,654,630,655.487772575,0.400963506976,0.00450949053673,0.059837961647,0.999999944537,0.000196422848939,-0.00026804610039,2.22457066045e-05,1793250258761339648
+26,0.433333333,BASELINE,769,745,719.918358866,684,666,641,884,787,817.918358866,654,630.081641134,656,0.400964028181,0.00450863070765,0.0598382465692,0.999999944343,0.000198044059437,-0.000267566625717,2.23759946542e-05,1793250258778006272
+27,0.450000000,BASELINE,769,745,719.343787476,684,666,641,884,787,817.343787476,654,630.656212524,656,0.400964315813,0.00450967054135,0.0598390419062,0.999999944302,0.000199260506425,-0.000266828577384,2.22100261562e-05,1793250258794672896
+28,0.466666667,BASELINE,769,745,719.230146937,684,666,641,884,787,817,654,631,656,0.40096448586,0.00451008886742,0.0598394022578,0.999999944429,0.000199085509119,-0.00026649950604,2.20147271158e-05,1793250258811339520
+29,0.483333333,BASELINE,769,745,719.803132441,684,666,641,884,787,817,654,631,656,0.400964480747,0.00450958136412,0.0598391146327,0.999999944805,0.000196837745646,-0.000266779667636,2.17757358193e-05,1793250258828006400
+30,0.500000000,BASELINE,769,745,720,684,666,641,884,787,817,653.611303559,630.611303559,655.611303559,0.400963198378,0.00450903558875,0.0598380252649,0.999999944508,0.000196145777961,-0.000268397060897,2.17576655187e-05,1793250258844673280
+31,0.516666667,BASELINE,769,745,720,684,666,641,884,787,817,653.019155745,630.019155745,655.019155745,0.400961247468,0.00450846978104,0.059836516249,0.999999943857,0.000196268144507,-0.000270714387542,2.18552296265e-05,1793250258861340160
+32,0.533333333,BASELINE,768.437893503,745,720,684,666,641,884.562106497,787,817.562106497,653.562106497,630,655.562106497,0.400961952274,0.00450816606894,0.0598367646268,0.99999994448,0.000194141044382,-0.000269959639866,2.17212195764e-05,1793250258878006528
+33,0.550000000,BASELINE,768.140697433,745,720,683.859302567,666,641,884.859302567,787,818,653.859302567,630,656,0.400962144577,0.00450827872295,0.059836894336,0.999999944747,0.000193257558955,-0.000269605502239,2.16918443714e-05,1793250258894673152
+34,0.566666667,BASELINE,768.712222829,745,720,683.287777171,666,641,884.287777171,787,818,653.287777171,630,656,0.400960495683,0.00450963949636,0.0598364807693,0.999999943805,0.00019641240743,-0.000270792553061,2.20065763245e-05,1793250258911340032
+35,0.583333333,BASELINE,769,745,719.715432301,683.569135399,666,641,884,787,817.715432301,653,630,655.715432301,0.400960344605,0.0045098327787,0.0598364666801,0.999999943666,0.000197319400844,-0.000270641663779,2.20531326974e-05,1793250258928006656
+36,0.600000000,BASELINE,769,745,719.142256251,684.715487497,666,641,884,787,817.142256251,653,630,655.142256251,0.400961712611,0.00450884199261,0.0598368577409,0.999999944348,0.000195946621704,-0.000269133836785,2.18277056337e-05,1793250258944673280
+37,0.616666667,BASELINE,768.551840169,745,719.448159831,684.551840169,666,641,884,787,817,653,630,655.448159831,0.40096211189,0.00450833418046,0.0598369424934,0.999999944342,0.000195780525969,-0.000269253255624,2.21125977473e-05,1793250258961339904
+38,0.633333333,BASELINE,768.042768127,745,720,684,666,640.957231873,884.042768127,787.042768127,817,653,630,656,0.400962169888,0.004508015512,0.0598369973332,0.999999944165,0.000195882140851,-0.000269804374196,2.25027837934e-05,1793250258978006784
+39,0.650000000,BASELINE,768.618688865,745,720,684,666,640.381311135,884.618688865,787.618688865,817,653,630,656,0.400961960094,0.00450806712701,0.0598379398416,0.999999944677,0.000194355150436,-0.000269040436434,2.21054376701e-05,1793250258994673408
+40,0.666666667,BASELINE,769,745,720,684,665.805304658,640.194695342,885,787.805304658,817,653.194695342,630.194695342,655.805304658,0.400961994169,0.00450835391786,0.0598385557643,0.999999944933,0.000194001193409,-0.000268361362784,2.18867572403e-05,1793250259011340032
+41,0.683333333,BASELINE,769,745,720,684,665.229130224,640.770869776,885,787.229130224,817,653.770869776,630.770869776,655.229130224,0.400962506075,0.00450910150387,0.0598385317865,0.999999944689,0.000195945636166,-0.000267848568892,2.20181480081e-05,1793250259028006400
+42,0.700000000,BASELINE,769,745,720,684,665.356698023,641,884.643301977,787,817,653.643301977,630.643301977,655.356698023,0.40096265208,0.00450994334377,0.0598382876765,0.99999994448,0.000197223476218,-0.000267709046216,2.18078451816e-05,1793250259044673280
+43,0.716666667,BASELINE,769,745,720,684,665.948900016,641,884.051099984,787,817,653.051099984,630.051099984,655.948900016,0.400962556505,0.00451084741322,0.0598378982279,0.999999944295,0.000198061202781,-0.00026781596971,2.13719448054e-05,1793250259061340160
+44,0.733333333,BASELINE,769,745,719.473431121,684,666,641,884.526568879,787,817,653,630,656,0.400962565067,0.00450934535245,0.0598381725457,0.999999944728,0.000195690036134,-0.000267922468802,2.16008034698e-05,1793250259078006784
+45,0.750000000,BASELINE,769,745.102342029,719.102342029,684,666,640.897657971,884.897657971,787,817.102342029,653.102342029,630.102342029,655.897657971,0.400962599713,0.00450807275736,0.0598385092011,0.999999945134,0.00019347696996,-0.000267999549517,2.18131037559e-05,1793250259094673408
+46,0.766666667,BASELINE,769,745.675706782,719.675706782,684,666,640.324293218,884.324293218,787,817.675706782,653.675706782,630.675706782,655.324293218,0.400962709152,0.004508902064,0.0598388442621,0.99999994517,0.000193386264632,-0.000267941418447,2.16602643529e-05,1793250259111340032
+47,0.783333333,BASELINE,769,745.751513312,720,684,666,640.248486688,884,787.248486688,818,653.751513312,631,655.248486688,0.400962782537,0.00450960418161,0.0598388619818,0.999999945048,0.000194233090514,-0.000267793906805,2.15454931535e-05,1793250259128006400
+48,0.800000000,BASELINE,769,745.179494805,720,684,666,640.820505195,884,787.820505195,818,653.179494805,631,655.820505195,0.400962808982,0.0045101406981,0.0598384665204,0.999999944716,0.000196300590136,-0.000267530020875,2.14802870638e-05,1793250259144673024
+49,0.816666667,BASELINE,768.588886411,745,720,684,666,640.588886411,884,787.588886411,817.588886411,653,630.588886411,656,0.40096264561,0.00450961141607,0.0598383703707,0.999999944659,0.000196028819073,-0.00026794103479,2.15220033445e-05,1793250259161339648
+50,0.833333333,BASELINE,768,745,720,684,666,640.009804768,884.009804768,787,817,653,630,655.990195232,0.400962393389,0.00450862056135,0.0598384116217,0.999999944728,0.000194713475928,-0.000268633339248,2.16098923569e-05,1793250259178006528
+51,0.850000000,BASELINE,768,745,720,684,666,640.584414885,884.584414885,787,817,653,630,655.415585115,0.400962023139,0.00450911591113,0.059838483415,0.999999944929,0.000194903866918,-0.000267751276642,2.15410289943e-05,1793250259194673152
+52,0.866666667,BASELINE,768.158775402,745.158775402,720,683.841224598,666,641,885,787,817,653,630,655,0.400961717049,0.00450929323187,0.0598384465083,0.999999945073,0.000194641033589,-0.000267408698951,2.14867080863e-05,1793250259211339776
+53,0.883333333,BASELINE,768.732483598,745.732483598,720,683.267516402,666,641,885,787,817,653,630,655,0.400961578632,0.00450863943724,0.0598381255328,0.999999945068,0.000193193774757,-0.000268475974361,2.14703914408e-05,1793250259228006656
+54,0.900000000,BASELINE,769,745.684464988,719.684464988,683.315535012,666,640.684464988,884.684464988,787,817.315535012,653.315535012,630.315535012,655,0.400962295382,0.00450835853467,0.059838477478,0.999999945224,0.000192731170888,-0.000268229066487,2.14356816356e-05,1793250259244673536
+55,0.916666667,BASELINE,769,745.093250539,719.093250539,683.906749461,666,640.093250539,884.093250539,787,817.906749461,653.906749461,630.906749461,655,0.400963759283,0.00450840342378,0.0598394173466,0.999999945522,0.000193128849206,-0.000266833971208,2.1384901932e-05,1793250259261340416
+56,0.933333333,BASELINE,769,745,719.487825899,684,665.512174101,640,884,787,817.512174101,653.512174101,630.512174101,655.487825899,0.400963326152,0.00450856160026,0.0598390345386,0.999999945095,0.000194657408902,-0.000267308402672,2.15639260262e-05,1793250259278007040
+57,0.950000000,BASELINE,768.933584567,745,720,684,665.066415433,640.066415433,884.066415433,787,817,653,630,655.933584567,0.400962674911,0.00450882595615,0.0598384969543,0.999999944622,0.000196210659393,-0.000267926752746,2.1760333611e-05,1793250259294673408
+58,0.966666667,BASELINE,768.359493217,745,720,684,665.640506783,640.640506783,884.640506783,787,817,653,630,655.359493217,0.400963071929,0.00450973977818,0.0598386695924,0.999999944853,0.000196333863063,-0.000266969105981,2.17606707753e-05,1793250259311340032
+59,0.983333333,BASELINE,768.214495724,745,720,684,666,641,884.785504276,787,817,653,630,655,0.400962621286,0.00450988838333,0.0598382492327,0.999999944987,0.000195295430254,-0.000267240327662,2.16298999279e-05,1793250259328006656
+60,1.000000000,BASELINE,768.788313204,745,720,684,666,641,884.211686796,787,817,653,630,655,0.400960750645,0.00450875510258,0.0598368354873,0.999999944948,0.000192311032055,-0.000269570141122,2.12794978446e-05,1793250259344673280
+61,1.016666667,BASELINE,769,745,720,684,666,641,884,787,817,653,630,655,0.4009607326,0.00450751320545,0.0598367641145,0.999999945175,0.000191225576274,-0.000269487586625,2.14246339307e-05,1793250259361339904
+62,1.033333333,BASELINE,769,745,720,684,666,641,884,787,817,653,630,655,0.400961797508,0.0045062078157,0.059837477438,0.999999945562,0.00019125016461,-0.000267994860519,2.18594413491e-05,1793250259378006528
+63,1.050000000,BASELINE,769,745,719.452664812,683.452664812,665.452664812,641,884,787,817,653,630,655.547335188,0.400962003161,0.0045082618737,0.059838636577,0.999999945071,0.000194285545252,-0.000267663594438,2.16057169753e-05,1793250259394673152
+64,1.066666667,BASELINE,769,745,719,683.124606344,665,641,884,787,817.124606344,653,630,656,0.400962084446,0.00450982997623,0.059839196364,0.999999944568,0.000196604435528,-0.00026786701186,2.13987378156e-05,1793250259411339776
+65,1.083333333,BASELINE,769,745,719,683.699886509,665,641,884,787,817.699886509,653,630,656,0.400961889022,0.00450896371052,0.0598374986153,0.999999944227,0.000195725401346,-0.000269770281638,2.14995332606e-05,1793250259428006400
+66,1.100000000,BASELINE,768.726126994,745,719,684,665,641,884,787,818,653,630,655.726126994,0.400962136177,0.0045083386778,0.0598373096007,0.99999994453,0.00019409944697,-0.000269811265433,2.16177935395e-05,1793250259444673024
+67,1.116666667,BASELINE,768.153551487,745,719,684,665,641,884,787,818,653,630,655.153551487,0.400962866035,0.00450797674847,0.0598387661033,0.999999945533,0.00019165885621,-0.000267821127124,2.1755102018e-05,1793250259461339904
+68,1.133333333,BASELINE,768,745,719,684,665.433771158,641,884,787,817.566228842,653,630.433771158,655,0.400963838876,0.00450856925953,0.0598395391069,0.999999945997,0.000191633233905,-0.000266114289338,2.16050964615e-05,1793250259478006784
+69,1.150000000,BASELINE,768,745.02586862,719.02586862,684,666,641,884,787,817,653,630.97413138,655,0.400964722562,0.00450955725613,0.0598399515786,0.999999946179,0.000192599713019,-0.000264748843863,2.13572591975e-05,1793250259494673152
+70,1.166666667,BASELINE,768,745.604518167,719.604518167,684,666,641,884,787,817,653,630.395481833,655,0.400961798446,0.00451152245724,0.0598380121293,0.999999944559,0.000195855544857,-0.000268460127072,2.12687183936e-05,1793250259511339776
+71,1.183333333,BASELINE,768.182197732,745.817802268,720,684,666,641,884,787,817,653.182197732,630,655.182197732,0.400960855893,0.00451192754914,0.0598374485759,0.999999943925,0.000197561841669,-0.000269561337433,2.13591214016e-05,1793250259528006144
+72,1.200000000,BASELINE,768.757783094,745.242216906,720,684,666,641,884,787,817,653.757783094,630,655.757783094,0.400964191779,0.004508964171,0.0598398557531,0.999999945449,0.000195922499713,-0.000265027075674,2.18358864029e-05,1793250259544673024
+73,1.216666667,BASELINE,769,745,720,684,666,641,884.331693369,787,817,653.668306631,630,656,0.400964648425,0.00450827884053,0.059840172937,0.999999945709,0.000195012716859,-0.000264703441393,2.19818184013e-05,1793250259561339904
+74,1.233333333,BASELINE,769,745,720,684,666,641,884.904386535,787,817,653.095613465,630,656,0.400963013091,0.00450924868058,0.0598389715858,0.999999945058,0.000194633012822,-0.000267439140081,2.18873756938e-05,1793250259578006528
+75,1.250000000,BASELINE,769.497587503,745,720,684,666,641,885,787,817.497587503,653,630.497587503,655.502412497,0.400962437479,0.00450896902699,0.0598382760911,0.999999945091,0.000193460986069,-0.000268187086442,2.16195704328e-05,1793250259594673152
+76,1.266666667,BASELINE,769.908590814,745,720,684,666,641,885,787,818,653.091409186,630.908590814,655.091409186,0.400962120761,0.0045085289002,0.0598378914162,0.999999945239,0.000192529058018,-0.000268321595158,2.13992025584e-05,1793250259611340032
+77,1.283333333,BASELINE,769.333242394,745,720,684,666,641,885,787,818,653.666757606,630.333242394,655.666757606,0.400962050273,0.00450856494955,0.0598386155552,0.999999945276,0.000193708943379,-0.000267317509324,2.16139215506e-05,1793250259628006656
+78,1.300000000,BASELINE,769,745,720,684,666,641,884.758159431,787,817.758159431,653.758159431,630,656,0.400962002654,0.00450868547595,0.0598388259744,0.999999945283,0.000194098864036,-0.00026700375609,2.16341910014e-05,1793250259644673536
+79,1.316666667,BASELINE,769,745,720,684,666,641,884.183441901,787,817.183441901,653.183441901,630,656,0.400961986511,0.00450892227922,0.0598383292935,0.999999945254,0.000193401452341,-0.000267640198434,2.13868139724e-05,1793250259661339904
+80,1.333333333,BASELINE,769,745,720,684,666,641,884,787,817.402245577,653,630,655.597754423,0.400961941339,0.00450905116968,0.0598382475715,0.999999945045,0.000193994585431,-0.000267982243015,2.14951248104e-05,1793250259678006528
+81,1.350000000,BASELINE,769,745,720,684,666,641,884,787,817.993076151,653,630,655.006923849,0.400961882557,0.00450912946733,0.059838360395,0.999999944751,0.000195192765225,-0.000268186265001,2.17701929496e-05,1793250259694673152
+82,1.366666667,BASELINE,768.429769388,745,720,683.429769388,666,641,884,787,817.429769388,653.570230612,630,655,0.400962613841,0.00450953419334,0.0598385651515,0.999999945104,0.000194519136713,-0.000267382353947,2.14574649157e-05,1793250259711339776
+83,1.383333333,BASELINE,768.147200294,745,719.852799706,683.147200294,666,641,884,787,817,654,630.147200294,655.147200294,0.400963192027,0.0045094462362,0.0598387981942,0.999999945486,0.000193574573026,-0.000266655371588,2.12732771023e-05,1793250259728006400
+84,1.400000000,BASELINE,768.724104109,745,719.275895891,683.724104109,666,641,884,787,817,654,630.724104109,655.724104109,0.400963295947,0.00450790875114,0.0598391106273,0.999999945928,0.000191903894437,-0.000266187847016,2.14846672664e-05,1793250259744673536
+85,1.416666667,BASELINE,769,745,719.300365209,684,666,641,884,787,817,653.699634791,630.699634791,656,0.400963491541,0.00450816549178,0.0598393292994,0.999999945824,0.000193058125501,-0.000265739313887,2.14984521978e-05,1793250259761340160
+86,1.433333333,BASELINE,769,745,719.876037177,684,666,641,884,787,817,653.123962823,630.123962823,656,0.40096377116,0.00451006677206,0.0598394620328,0.999999945213,0.000196801593699,-0.000265308187835,2.1331117417e-05,1793250259778006528
+87,1.450000000,BASELINE,768.534170734,745,720,684,666,641,884.465829266,787,817.465829266,653.465829266,630,656,0.400964241706,0.00451051393161,0.059839718743,0.999999945364,0.000196698898851,-0.000264810037654,2.13771290598e-05,1793250259794673152
+88,1.466666667,BASELINE,768,745.057560773,720,684,665.942439227,641,884.942439227,787,817.942439227,653.942439227,630,656,0.400964570787,0.00451061235275,0.059839884782,0.999999945628,0.000195744938052,-0.000264513799506,2.14592062376e-05,1793250259811340288
+89,1.483333333,BASELINE,768,745.631914324,720,684,665.368085676,641,884.368085676,787,817.368085676,653.368085676,630,656,0.400963159344,0.00451116252923,0.0598389312887,0.999999945012,0.000196624677859,-0.000266195510675,2.13394239923e-05,1793250259828006912
+90,1.500000000,BASELINE,768,745.793475306,720,684,665.206524694,641,884,787,817,653,630.206524694,655.793475306,0.400962144706,0.00451128659012,0.0598383657723,0.999999944683,0.000196898032711,-0.000267234504563,2.1233959322e-05,1793250259844673536
+91,1.516666667,BASELINE,768,745.218406703,720,684,665.781593297,641,884,787,817,653,630.781593297,655.218406703,0.400961838168,0.00451065024645,0.0598384926016,0.999999944872,0.000196089291771,-0.00026712656744,2.11540444177e-05,1793250259861340672
+92,1.533333333,BASELINE,768.366298876,745.366298876,720,684,666,641,884,787,817.366298876,653,630.633701124,655,0.400962404948,0.00451065517976,0.0598387803022,0.999999945084,0.000195792528963,-0.000266539404962,2.12890041967e-05,1793250259878007296
+93,1.550000000,BASELINE,768.956905844,745.956905844,720,684,666,641,884,787,817.956905844,653,630.043094156,655,0.400963506515,0.00451105280768,0.0598391665147,0.99999994531,0.00019580928284,-0.00026565878232,2.15555453992e-05,1793250259894673920
+94,1.566666667,BASELINE,769,745.462772851,720,684,666,641,884.537227149,787,817.462772851,653,630,655.537227149,0.400963234793,0.00451068124553,0.0598390318896,0.999999945113,0.000196818281527,-0.00026564547695,2.16634139373e-05,1793250259911340800
+95,1.583333333,BASELINE,769,745.115877656,720,684,666,641,885,787,817,653,630.115877656,656,0.400963036603,0.00451024381918,0.0598390069966,0.99999994509,0.000196964635218,-0.00026562206725,2.1698137913e-05,1793250259928007424
+96,1.600000000,BASELINE,769,745.691114292,720,684,666,641,885,787,817,653,630.691114292,656,0.400963558395,0.00450978529513,0.0598395796095,0.999999945882,0.000193381719862,-0.000265287985553,2.14924126583e-05,1793250259944673792
+97,1.616666667,BASELINE,769,745.728486855,720,684,665.728486855,641,884.728486855,787,817,653,630.728486855,656,0.40096358528,0.00450973053801,0.059839768083,0.999999945963,0.000193004050319,-0.000265264131229,2.14240614651e-05,1793250259961340160
+98,1.633333333,BASELINE,769,745.142101444,720,684,665.142101444,641,884.142101444,787,817,653,630.142101444,656,0.400963038222,0.00451014402716,0.0598395110721,0.999999945221,0.000196343486526,-0.000265600045864,2.15150222108e-05,1793250259978006784
+99,1.650000000,BASELINE,769,745,720,684,665.439097599,641,884.878195198,787,817.439097599,653,630,656,0.40096403162,0.00450898968903,0.059840145102,0.999999945708,0.000195000561898,-0.000264747499576,2.16307715568e-05,1793250259994673408
+100,1.666666667,BASELINE,769,745.018611122,720,684,666,641,885.962777755,787,817.981388878,653.018611122,630,655.981388878,0.400965440256,0.00450740754003,0.0598410176038,0.999999946544,0.000192291172474,-0.000263558526826,2.17458955471e-05,1793250260011340032
+101,1.683333333,BASELINE,769,745.597321635,720,684,666,641,884.80535673,787,817.402678365,653.597321635,630,655.402678365,0.400964517524,0.00450804184341,0.0598404900311,0.999999946275,0.000193528995105,-0.000263684558769,2.16035930375e-05,1793250260028006912
+102,1.700000000,BASELINE,769,745.825233127,720,684,666,641,884,787,817,654,630,655,0.40096368437,0.004508920395,0.0598397724444,0.999999945877,0.000194631341665,-0.000264394242649,2.14390447771e-05,1793250260044674048
+103,1.716666667,BASELINE,769,745.250682316,720,684,666,641,884,787,817,654,630,655,0.400963056131,0.00451035767091,0.0598386201958,0.999999945185,0.000195423782889,-0.000266439046059,2.12236087816e-05,1793250260061340928
+104,1.733333333,BASELINE,769,745,720,684,666.324901197,641,884,787,817.324901197,653.675098803,630,655,0.400963605795,0.00450999275447,0.0598388996943,0.999999945414,0.000194685623303,-0.000266108361852,2.13547746742e-05,1793250260078007296
+105,1.750000000,BASELINE,769,745,720,684,666.901284111,641,884,787,817.901284111,653.098715889,630,655,0.400965067185,0.00450823289587,0.0598402874011,0.999999946353,0.000192762740196,-0.000263938990573,2.17542191417e-05,1793250260094673408
+106,1.766666667,BASELINE,769,745,720,684,666.5105862,641,884,787,818,653,630,655.4894138,0.400963390833,0.00450869138557,0.0598394800213,0.999999945655,0.000194489542122,-0.000265313280866,2.17399609293e-05,1793250260111340032
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,885,788,817,654,630,656,0.400964046452,0.00450754103499,0.0598399754784,0.9999999461,0.000192350601463,-0.000265193738516,2.17547959882e-05,1793250260154809088
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.576030434,745,720,684,666,641,884.423969566,787.423969566,817,654,630,655.423969566,0.400962988799,0.00450761389148,0.0598394939394,0.999999945779,0.000193144457449,-0.000265832387878,2.17052139106e-05,1793250260171476224
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.844353289,745.155646711,719.844353289,684,666,641,884,787,817,654,630.155646711,655,0.400962437817,0.0045077855344,0.0598393179805,0.999999945601,0.000193789866434,-0.000266031766837,2.16708742617e-05,1793250260188142848
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.254738987,745.745261013,719.254738987,684,666,641,884,787,817,654,630.745261013,655,0.40096329951,0.00450823260949,0.0598399940267,0.999999945829,0.000194021381931,-0.000265006390736,2.1679032898e-05,1793250260204809728
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745.669632846,719.330367154,684,666,641,884,787,817.330367154,653.669632846,630.669632846,655.330367154,0.400964091902,0.00450906036379,0.0598407258185,0.999999946018,0.000194591175855,-0.000263874449136,2.16455956603e-05,1793250260221476352
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745.08795609,719.91204391,684,666,641,884,787,817.91204391,653.08795609,630.08795609,655.91204391,0.400964831578,0.00451017769995,0.0598415000159,0.999999946177,0.000195418297455,-0.000262661443448,2.15805165281e-05,1793250260238142720
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745.487690086,720,684,666,641,884,787,817.512309914,653.487690086,630,656,0.400962751951,0.00450912358715,0.059839670291,0.99999994549,0.000194436861072,-0.000265968862556,2.18044551728e-05,1793250260254809088
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.937482567,745.937482567,720,684,666,641,884,787,817.062517433,653.937482567,630,655.937482567,0.400960983128,0.00450791550934,0.0598379152784,0.999999944854,0.000193276841806,-0.000269165644862,2.20482697334e-05,1793250260271475712
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.360552745,745.360552745,720,684,666,641,884,787,817.639447255,653.360552745,630,655.360552745,0.400965904412,0.00450862361851,0.0598405920272,0.999999946009,0.000193298495873,-0.000264825727739,2.20319674279e-05,1793250260288142080
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.221700579,745,720,684,666,641,884,787.221700579,818,653,630,655,0.40097580371,0.00450874314919,0.0598453018553,0.999999948091,0.000192457094987,-0.000257471978033,2.20626859787e-05,1793250260304808448
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.812824485,745,720,684,666,641,884,787.812824485,818,653,630,655,0.400993997954,0.00450788192174,0.0598533994367,0.999999951634,0.000190177571397,-0.00024509622986,2.21717561566e-05,1793250260321475072
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787.606294279,817.606294279,653,630,655,0.40103587569,0.00450731795818,0.0598690722683,0.999999958281,0.00018985695495,-0.000216567236891,2.21758167929e-05,1793250260338141952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787.030159087,817.030159087,653,630,655,0.40108872753,0.00450689173624,0.0598882552067,0.999999965321,0.000190444027214,-0.000180553393495,2.2131219664e-05,1793250260354808576
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787,817.545097269,653,630.545097269,655,0.401153998138,0.00450670011612,0.0599052167194,0.999999968947,0.000190343556482,-0.000159224115329,2.28544454901e-05,1793250260371475200
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884.123306585,787,817.876693415,653,630.876693415,655.123306585,0.401223029629,0.004506511327,0.0599206907734,0.999999972075,0.000189710000436,-0.000138980322898,2.33341726462e-05,1793250260388142080
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884.712865492,787,817.287134508,653,630.287134508,655.712865492,0.401303688029,0.00450628424087,0.0599310043804,0.999999975046,0.0001872043269,-0.000119773823622,2.27327957155e-05,1793250260404808704
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.297044748,720,684,666,641,885,787,817.297044748,653,630,655.702955252,0.401393417725,0.00450589455074,0.0599378491992,0.999999976781,0.000185316583666,-0.000107758597295,2.19937646408e-05,1793250260421475072
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745.876116299,720,684,666,641,885,787,817.876116299,653,630,655.123883701,0.401491760085,0.00450535047755,0.0599414006036,0.999999977586,0.000184015529703,-0.000102571069811,2.11240389612e-05,1793250260438141952
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.547071226,720,684,666,641,884.547071226,787,818,653,630,655,0.401615197676,0.0045060835715,0.0599454409585,0.999999978894,0.000182626104382,-9.19842877029e-05,1.995912974e-05,1793250260454808832
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.970940999,745,719.970940999,684,666,641,884.029059001,787,817.970940999,653,630,655.029059001,0.401746041036,0.00450708180515,0.0599493442557,0.999999980187,0.000181045123406,-8.06213964446e-05,1.86986743396e-05,1793250260471475456
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.396076911,745,719.396076911,684,666,641,884.603923089,787,817.396076911,653,630,655.603923089,0.401887700692,0.00450653134407,0.0599481737914,0.999999980924,0.000176317962979,-8.22814408289e-05,1.7152550097e-05,1793250260488141824
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.18440414,745,719.18440414,684,666,641,885,787,817,653.18440414,630,656,0.402040372798,0.00450662096015,0.0599475054555,0.999999981678,0.000172729344866,-8.10704957961e-05,1.53402675805e-05,1793250260504808448
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.777328677,745,719.777328677,684,666,641,885,787,817,653.777328677,630,656,0.402217441354,0.00450812857358,0.0599479495117,0.999999982481,0.000171663001325,-7.34992934803e-05,1.29383505502e-05,1793250260521475072
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666.360219785,641,885,787,817,653.639780215,630,655.639780215,0.402421693844,0.00450761753209,0.0599501814673,0.999999983659,0.000169012670385,-6.32066192538e-05,1.09855151053e-05,1793250260538141952
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666.937076817,641,885,787,817,653.062923183,630,655.062923183,0.402642294849,0.00450589246569,0.059953488671,0.999999984962,0.000165409724611,-5.12772430211e-05,9.30275842508e-06,1793250260554808576
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,719.488673611,683.488673611,666.488673611,641,885,787,817,653,630,655.511326389,0.402893792487,0.00450633736088,0.0599519966298,0.999999986021,0.000159353428722,-5.01824754688e-05,6.81063933096e-06,1793250260571475200
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,719.08761736,683.08761736,666,641,884.91238264,787.08761736,817,653.08761736,630,655.91238264,0.403152812597,0.00450686547822,0.0599501094835,0.999999987055,0.000152755066553,-5.03771209087e-05,4.18138988378e-06,1793250260588141824
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,719.67743928,683.67743928,666,641,884.32256072,787.67743928,817,653.67743928,630,655.32256072,0.403433267776,0.00450634779707,0.0599493256351,0.999999988252,0.00014477137434,-5.03590261759e-05,1.33412176203e-06,1793250260604808448
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,720,684.262244005,666,641,884.262244005,787.737755995,817,653.737755995,630,655.262244005,0.403728133288,0.00450512316321,0.0599450121243,0.999999989043,0.000136435915153,-5.74142269561e-05,-1.44276076336e-06,1793250260621475072
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,720,684.840993383,666,641,884.840993383,787.159006617,817,653.159006617,630,655.840993383,0.404040390784,0.00450304529985,0.0599364386226,0.999999989176,0.000127675904725,-7.30062712406e-05,-4.13469391393e-06,1793250260638141696
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,720,684.583554729,666,641,885,787,817.416445271,653,630,656,0.40437575221,0.00450280585803,0.0599239151088,0.999999988248,0.000119815769757,-9.53414401495e-05,-7.5773587684e-06,1793250260654808320
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,720,684.009352005,666,641,885,787,817.990647995,653,630,656,0.40471986584,0.00450326284557,0.059909895255,0.999999986403,0.000112296525003,-0.000120231033531,-1.1304415119e-05,1793250260671475200
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,720,684.568105388,666,641,885,787,817.431894612,653,630,655.431894612,0.405128246353,0.00450262205155,0.0599010186459,0.99999998523,0.000101809894806,-0.000137622022821,-1.52988116058e-05,1793250260688141824
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,720,685,666.14855005,641,885,787,817,653,630,655,0.405553488734,0.00450160611633,0.059899409732,0.999999985549,9.1469324613e-05,-0.00014202339643,-1.90777747852e-05,1793250260704808448
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,720,685,666.737694926,641,885,787,817,653,630,655,0.406025586906,0.00449953143212,0.0599191040119,0.999999990555,8.17076832533e-05,-0.000108266199942,-2.22046406579e-05,1793250260721475072
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.321119601,720,685,667,641.321119601,885.321119601,787.321119601,817,653.321119601,630.321119601,655.321119601,0.406535470093,0.00449596371169,0.0599465571863,0.999999995386,6.98688924188e-05,-6.10457772847e-05,-2.4908412254e-05,1793250260738141696
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.899953594,720,685,667,641.899953594,885.899953594,787.899953594,817,653.899953594,630.899953594,655.899953594,0.407075677679,0.00449119775547,0.0599802372601,0.999999998035,5.63630849998e-05,-3.02044468202e-06,-2.72726300136e-05,1793250260754808576
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,720,685,667,641.522974723,885.522974723,788,817,654,631,656,0.4076219897,0.00447337435369,0.0599954220071,0.999999999137,2.82784449079e-05,1.52539778556e-05,-2.63499372061e-05,1793250260771475200
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.946633985,720.053366015,685.053366015,667,641,885,788,817.053366015,654,630.946633985,656,0.408170777493,0.00445412201294,0.0600041315069,0.999999999472,-1.44857075893e-06,2.05364157543e-05,-2.51418353018e-05,1793250260788141568
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.373823239,720.626176761,685.626176761,667,641,885,788,817.626176761,654,630.373823239,656,0.408731247953,0.00444751866183,0.0599874313465,0.999999999263,-1.7509740395e-05,-1.97901913226e-05,-2.78409701721e-05,1793250260804808448
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,720.794529219,686,667,641,885.205470781,788,818,653.794529219,630,656,0.409308489867,0.00444601531712,0.0599751709284,0.999999997864,-2.89036814655e-05,-4.93584931604e-05,-3.16153312685e-05,1793250260821475072
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,720.203055581,686,667,641,885.796944419,788,818,653.203055581,630,656,0.409917239043,0.00445409298001,0.0599712511288,0.999999997079,-3.15296423222e-05,-5.87159552383e-05,-3.74096407739e-05,1793250260838141952
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.380174552,720,686,667,641.380174552,886.380174552,788,818,653,630,656,0.410580723746,0.00445260740715,0.0599775895205,0.999999997282,-4.58999918868e-05,-3.93193739579e-05,-4.22228981224e-05,1793250260854808576
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.959095161,720,686,667,641.959095161,886.959095161,788,818,653,630,656,0.41127282284,0.00444612240575,0.0599892906467,0.999999996701,-6.64100235957e-05,-4.89087410791e-06,-4.65232849017e-05,1793250260871475200
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,720.536038298,686,667,641.463961702,886.463961702,787.463961702,818,653,630.536038298,656,0.411972013779,0.00444944132233,0.059986826887,0.999999992072,-0.000114246878875,-1.33583178075e-05,-5.12462247259e-05,1793250260888141824
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,720.887600234,686.112399766,667,641.112399766,886,787.112399766,818,653,631,656,0.412668550745,0.00445452575284,0.0599758325844,0.999999988785,-0.000135867200394,-3.81680831197e-05,-5.01339775799e-05,1793250260904808704
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,720.313012522,686.686987478,667,641.686987478,886,787.686987478,818,653,631,656,0.413351957246,0.00446380496257,0.0599341890733,0.999999992027,-4.11418666727e-05,-0.000116766859888,-2.48953310939e-05,1793250260921475328
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.731680301,746,720,687.268319699,666.731680301,642,886.268319699,788,818,653.268319699,631,656,0.414077868419,0.00446760214572,0.0599146631599,0.999999988153,2.97781060472e-06,-0.000153262030097,-1.39813419002e-05,1793250260938141696
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.142277221,746,720,687.857722779,666.142277221,642,886.857722779,788,818,653.857722779,631,656,0.414854642677,0.00446483929133,0.05992160415,0.999999989993,-1.34594969754e-05,-0.000139374149544,-2.02088767167e-05,1793250260954808320
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.437223981,746,720,688,666.874447962,642,887,787.562776019,818,653.562776019,630.562776019,656,0.415705742572,0.00446145402484,0.0599664761721,0.999999997628,-2.80717767005e-05,-5.7699077651e-05,-2.50271619978e-05,1793250260971475712
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,720,688,668,641.98638043,887.01361957,787.01361957,818,653.01361957,630,656,0.416579544858,0.00445798286808,0.0600221421003,0.999999997775,-4.17388848604e-05,4.29688477495e-05,-2.93356317133e-05,1793250260988143360
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,720,688,668,641.408109254,887.591890746,787.591890746,818,653.591890746,630,656,0.417414033086,0.00445916188057,0.0600249108924,0.999999998028,-4.02967594138e-05,3.67851584556e-05,-3.10990974831e-05,1793250261004809472
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,720,688,667.826490836,641.173509164,887.826490836,788,818,654,630,656,0.418253604883,0.00445926037538,0.0600201971183,0.999999998459,-3.79751821146e-05,2.39430028837e-05,-3.26469483495e-05,1793250261021475584
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,720,688,667.23684457,641.76315543,887.23684457,788,818,654,630,656,0.419105368847,0.00445676740183,0.0599975374709,0.999999998858,-3.35443644412e-05,-4.86853861735e-06,-3.36776773529e-05,1793250261038142208
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.34636836,746,720.34636836,688.34636836,667.34636836,642,887.34636836,788,818.34636836,654,630,656,0.419956785755,0.00445862005492,0.0599707341244,0.999999998086,-2.67484946462e-05,-4.26563681191e-05,-3.59558047151e-05,1793250261054809088
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.925262407,746,720.925262407,688.925262407,667.925262407,642,887.925262407,788,818.925262407,654,630,656,0.420807969642,0.00446339003527,0.0599411490107,0.99999999533,-1.83649067384e-05,-8.64702015976e-05,-3.90713415081e-05,1793250261071476480
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.499406856,746,720.499406856,689.500593144,667.499406856,641.499406856,888,787.499406856,819,653.499406856,630.500593144,656,0.421627234252,0.00446339700417,0.0599013358989,0.999999985351,-1.29188658912e-05,-0.000166186754522,-3.88908305681e-05,1793250261088143104
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746.075498738,720,690,667.075498738,641.075498738,888,787,819,653.075498738,631,656,0.4224657854,0.00446244733681,0.0598716946648,0.999999973253,-1.46042230303e-05,-0.000227583864422,-3.8548466974e-05,1793250261104809728
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746.651086922,720,690,667.651086922,641.651086922,888,787,819,653.651086922,631,656,0.423463429163,0.0044598380483,0.0599194732618,0.999999988584,-6.06421487567e-05,-0.000132382335422,-4.03705209239e-05,1793250261121476096
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746.767299335,720,690,668.232700665,641.767299335,888.232700665,787.232700665,818.767299335,654,630.767299335,656,0.424456485835,0.00445866585882,0.0599706618654,0.999999994535,-8.56974915167e-05,-4.31051661233e-05,-4.15708634589e-05,1793250261138142720
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746.17641057,720,690,668.82358943,641.17641057,888.82358943,787.82358943,818.17641057,654,630.17641057,656,0.425442481907,0.00445970574588,0.0600270993819,0.999999995362,-7.84550763047e-05,3.70528539818e-05,-4.18142277304e-05,1793250261154809088
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,690.40607199,668.18785602,641,888.59392801,787.59392801,818.40607199,654,630.40607199,656,0.42640188987,0.00445777244679,0.060039038053,0.999999994273,-7.48417541102e-05,6.32263334197e-05,-4.30811540307e-05,1793250261171475456
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720,690.984976659,667.030046682,641,888.015023341,787.015023341,818.984976659,654,630.984976659,656,0.427349981322,0.00445457369783,0.0600320370872,0.999999994143,-7.27730499015e-05,6.64228656228e-05,-4.47837296643e-05,1793250261188142336
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,720,691,667.558653307,641,888,787,819,654,630.441346693,656,0.428251744813,0.00445322784113,0.0600046835757,0.999999996199,-6.88818437769e-05,2.74993737873e-05,-4.58420057103e-05,1793250261204808960
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,720,691,667.864277246,641,888.135722754,787,819.135722754,653.864277246,630,656,0.429143717631,0.00445254568649,0.0599728656723,0.999999996645,-6.3571842943e-05,-2.20156632695e-05,-4.6730768025e-05,1793250261221475328
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,720,691,667.275415204,641,888.724584796,787,819.724584796,653.275415204,630,656,0.430007123142,0.00445391462311,0.0599279528574,0.99999999213,-5.3687010403e-05,-0.000103146146055,-4.71108846754e-05,1793250261238141952
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.691766674,746,720.308233326,691,666.691766674,641,888.691766674,787,820,653.308233326,630.308233326,656,0.430934959201,0.00445266745697,0.0599188961228,0.999999991086,-5.01700853953e-05,-0.000114079831596,-4.79146179811e-05,1793250261254808576
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.112699111,746,720.887300889,691,666.112699111,641,888.112699111,787,820,653.887300889,630.887300889,656,0.431919408164,0.0044491216094,0.0599413449201,0.999999995425,-5.22484267934e-05,-6.33339529107e-05,-4.90905690556e-05,1793250261271475456
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.464923308,746.464923308,720.535076692,691,667.394769925,641.464923308,888.464923308,787.464923308,819.535076692,654,631,656,0.432896456378,0.00444794378346,0.0599833736236,0.999999997509,-5.00522475793e-05,4.77978170589e-06,-4.95377673555e-05,1793250261288141824
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.958189938,720.041810062,691.041810062,668.874569814,641.958189938,888.958189938,788,819,653.958189938,630.958189938,656,0.433865351212,0.00444699224343,0.0600255076642,0.999999995214,-4.74588345505e-05,6.95535940232e-05,-4.98111983863e-05,1793250261304808704
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746.386204058,720.613795942,691.613795942,667.158612173,641.386204058,888.386204058,788,819,653.386204058,630.386204058,656,0.434753533616,0.00444165382607,0.0600089788078,0.999999996593,-5.2926660024e-05,3.87549714579e-05,-5.01142748222e-05,1793250261321476096
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,720.808192046,692,666,641.191807954,888.191807954,788,819,653.191807954,630.191807954,656,0.435636047687,0.00443701146075,0.0599867204245,0.999999997074,-5.7182320578e-05,-2.61420705333e-06,-5.07460362017e-05,1793250261338142976
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,720.217652775,692,666,641.782347225,888.782347225,788,819,653.782347225,630.782347225,656,0.436506778561,0.00443381605082,0.0599525514699,0.999999994734,-5.8918127703e-05,-6.5957514786e-05,-5.20610694617e-05,1793250261354809856
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.367015543,720.367015543,692,666.367015543,641.632984457,889,787.632984457,819,654,631,656,0.437348332458,0.00443438599411,0.0599238919281,0.99999999019,-5.26477744203e-05,-0.000118759994399,-5.2381770594e-05,1793250261371476480
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.948256968,720.948256968,692,666.948256968,641.051743032,889,787.051743032,819,654,631,656,0.438172855786,0.00443715376307,0.059898448216,0.999999984092,-4.17042489818e-05,-0.000165409820074,-5.21220829242e-05,1793250261388143360
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.478097305,720.478097305,692,666.478097305,641,889,787,819,654,631,656,0.439036352884,0.00443489508807,0.0599055501195,0.999999986206,-3.97995203852e-05,-0.000152651809319,-5.19713026421e-05,1793250261404809984
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.097234573,720.097234573,692,666.097234573,641.097234573,889,787,819,654,630.902765427,656,0.439904549128,0.0044318473694,0.0599234558888,0.9999999903,-4.00046825996e-05,-0.000122891443594,-5.1929283876e-05,1793250261421476096
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746.684812641,720.684812641,692,666.684812641,641.684812641,889,787,819,654,630.315187359,656,0.440777236524,0.00442729759859,0.0599798060512,0.99999999688,-4.63955167016e-05,-3.666595825e-05,-5.23820684683e-05,1793250261438142464
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.729822641,720.729822641,692,666.459645282,641.729822641,889,787,819,654,630.270177359,656,0.441609857318,0.00442659128233,0.0599977809054,0.999999997522,-4.51949063845e-05,-9.05139755081e-06,-5.32071856037e-05,1793250261454808832
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.147019065,720.147019065,692,665.294038129,641.147019065,889,787,819,654,630.852980935,656,0.442396116395,0.00443033228451,0.0599713511191,0.999999996684,-3.5210123264e-05,-4.92564107497e-05,-5.44631344822e-05,1793250261471475200
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746.428904715,720,692,665.428904715,641,889,787,819,654,631,656,0.443116295251,0.00443042317436,0.059926331274,0.999999991203,-2.98849992963e-05,-0.000116946069161,-5.49952425663e-05,1793250261488142080
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746.997484183,720,692.002515817,665.994968367,641,889,787,819,654,631,656,0.443814174723,0.00442930912302,0.0598751908377,0.999999979374,-2.61003490195e-05,-0.000193686088064,-5.52825423548e-05,1793250261504809216
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769.328878397,747,720,692.328878397,663.671121603,640,889.671121603,787,819,654,631,656,0.446440674167,0.004443956094,0.0597931755692,0.999999939206,-2.15901127339e-06,-0.00034403429547,-5.67832500484e-05,1793250261571475968
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769.602253771,746.602253771,720,692.602253771,659,637,890,786.602253771,820,654,631,656,0.453633719252,0.00456710854388,0.059647963273,0.999999846837,5.67897405878e-05,-0.000547816527015,-5.47467537372e-05,1793250261838142720
+209,3.483333333,POSE1_TO_POSE2_PRESS,769.823903748,747,720.176096252,693,658.823903748,636.823903748,890,786.823903748,820,654,631,656,0.453873986238,0.00457074309368,0.0596329257791,0.999999833886,5.51857783557e-05,-0.000570799421905,-5.80505285595e-05,1793250261854809600
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+246,4.100000000,POSE1_TO_POSE2_PRESS,770,747,720,693.352187833,656,635,889.647812167,786,820.647812167,654,630.647812167,656,0.455755748213,0.00457415899066,0.0596015324543,0.999999817965,3.87584454949e-05,-0.000597881005283,-7.14534920864e-05,1793250262471475456
+247,4.116666667,HOLD_POSE2,769,747,720,694,656,635,890,786,820,654,631,656,0.455755557888,0.00457168095429,0.0596007751198,0.999999817245,3.81485376296e-05,-0.000599199404746,-7.08104402629e-05,1793250262510026240
+248,4.133333333,HOLD_POSE2,769,747,720,693.419322384,656,635,889.419322384,786,820.580677616,654.580677616,631,656,0.45575677162,0.00457344572065,0.0596011196772,0.999999817664,3.89674721525e-05,-0.000598379008937,-7.13896469131e-05,1793250262526692864
+249,4.150000000,HOLD_POSE2,769.159966715,747,720,693.159966715,656,635,889.159966715,786,820.840033285,654.840033285,631,656,0.455757389497,0.00457478754237,0.059601380592,0.999999817764,3.99030743631e-05,-0.000598104708287,-7.17683434946e-05,1793250262543359488
+250,4.166666667,HOLD_POSE2,769.735647526,747,720,693.735647526,656,635,889.735647526,786,820.264352474,654.264352474,631,656,0.455756458894,0.00457503023555,0.0596014241404,0.999999817038,4.11418673382e-05,-0.000599249574288,-7.16259639139e-05,1793250262560026112
+251,4.183333333,HOLD_POSE2,770,747,720,693.68188443,656,635,889.68188443,786,820,654,631,656,0.455756456152,0.00457446627937,0.0596019036538,0.99999981711,4.11255036084e-05,-0.000599136064478,-7.15809187076e-05,1793250262576692736
+252,4.200000000,HOLD_POSE2,770,747,720,693.093653305,656,635,889.093653305,786,820,654,631,656,0.455757241267,0.00457321738801,0.0596027533499,0.999999817859,4.0043371944e-05,-0.000597954053358,-7.16185212363e-05,1793250262593359360
+253,4.216666667,HOLD_POSE2,769.513144246,747,720,693,656,635,889.486855754,786,820.486855754,654,631,656,0.455757168367,0.00457319391007,0.0596021003966,0.999999817699,3.95111905428e-05,-0.000598256001769,-7.16286257716e-05,1793250262610025984
+254,4.233333333,HOLD_POSE2,769,747,720,693,656,635,890,786,821,654,631,656,0.455757021287,0.00457344106961,0.0596012569941,0.999999817399,3.94568193898e-05,-0.000598765224573,-7.15879673699e-05,1793250262626692864
+255,4.250000000,HOLD_POSE2,769,747,720,693,656,635,890,786,821,654,631,656,0.455757561692,0.00457398873056,0.0596011462356,0.99999981735,4.23120080615e-05,-0.000598700368507,-7.11925920086e-05,1793250262643359488
+256,4.266666667,HOLD_POSE2,769.219098047,747,720,693.219098047,656,635,889.780901953,786,820.780901953,654.219098047,631,656,0.455757753532,0.00457503985602,0.0596010106365,0.999999817223,4.32563190488e-05,-0.000598842644831,-7.12049349955e-05,1793250262660026112
+257,4.283333333,HOLD_POSE2,769.792459685,747,720,693.792459685,656,635,889.207540315,786,820.207540315,654.792459685,631,656,0.455757381771,0.00457690504227,0.0596008348724,0.99999981698,4.11108971199e-05,-0.000599319837268,-7.18765251822e-05,1793250262676692736
+258,4.300000000,HOLD_POSE2,770,747,720,693.623597959,656,635,889.376402041,786,820.376402041,654.623597959,631,656,0.455756944759,0.00457683441336,0.0596003715755,0.999999816536,4.13583078362e-05,-0.000600058444325,-7.17483424004e-05,1793250262693359360
+259,4.316666667,HOLD_POSE2,770,747,720,693.033652818,656,635,889.966347182,786,820.966347182,654.033652818,631,656,0.45575647073,0.00457566554414,0.0595997451534,0.999999815977,4.29632372852e-05,-0.000600945359041,-7.11664267594e-05,1793250262710026240
+260,4.333333333,HOLD_POSE2,769.457587241,747,720,693.542412759,656,635.542412759,890,786,821,654,631,656,0.455756496703,0.00457534358922,0.0595997875538,0.999999815998,4.22863039603e-05,-0.000600971871725,-7.10594747854e-05,1793250262726692608
+261,4.350000000,HOLD_POSE2,769.118758338,747,720.118758338,694,656,635.881241662,889.881241662,786,821,654,631,656,0.455756569602,0.00457507968735,0.0595997511152,0.999999816007,4.16523943121e-05,-0.000601003353018,-7.1034456037e-05,1793250262743359232
+262,4.366666667,HOLD_POSE2,769.699459241,747,720.699459241,694,656,635.300540759,889.300540759,786,821,654,631,656,0.455756707368,0.00457484231008,0.0595992506297,0.999999815839,4.17227840395e-05,-0.000601256623117,-7.12163744517e-05,1793250262760026112
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,747,721,693,656,635,890,786,821,654,631,656,0.455757936229,0.00457370380092,0.0596002152015,0.999999816155,4.13950027132e-05,-0.000600690562743,-7.17447216967e-05,1793250262797894912
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,747,721,693,656,635,890,786,821,654.594085856,631,656,0.455756859304,0.00457461604069,0.0595997560554,0.999999815689,4.15936625874e-05,-0.000601477036495,-7.15348680949e-05,1793250262814561536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.183513077,747,720.816486923,693,656,635,890,786,820.816486923,654.816486923,631,656,0.455755781609,0.00457516651444,0.0595992593156,0.999999815076,4.22053686485e-05,-0.000602477322455,-7.13246561586e-05,1793250262831227904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.762891044,747,720.237108956,693,656,635,890,786,820.237108956,654.237108956,631,656,0.455754702254,0.00457493660547,0.0595986814806,0.999999814145,4.37080765519e-05,-0.000603938833171,-7.1113671202e-05,1793250262847894528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.659714422,746.659714422,720.340285578,693,656,635,890,786,820,654,631,656,0.45575529526,0.00457476180456,0.0595993325333,0.999999814566,4.30085850506e-05,-0.000603315122222,-7.09139527806e-05,1793250262864561408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.083693957,746.083693957,720.916306043,693,656,635,890,786,820,654,631,656,0.455757046804,0.00457462518009,0.0596008349054,0.999999815919,4.07835065352e-05,-0.000601246861294,-7.07220393318e-05,1793250262881228032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.489490309,746,720.510509691,693,656,635,890,786,820.489490309,654,631,656.489490309,0.455757832878,0.00457485298055,0.0596006316526,0.999999816308,4.10238589023e-05,-0.000600529587446,-7.11720667481e-05,1793250262897894400
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.935493846,746,720,693,656,635,890,786,820.935493846,654,631,656.935493846,0.455758274202,0.00457516708758,0.0596001649909,0.999999816473,4.184931616e-05,-0.000600141348945,-7.16490722268e-05,1793250262914560512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.341485668,746,720,693,656,635,890,786,820.341485668,654,631,656.341485668,0.455757232878,0.0045756811178,0.0595999162001,0.999999816136,4.40373058112e-05,-0.000600568808847,-7.14517464126e-05,1793250262931227392
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,746.245091322,720,693.245091322,656,635,890,786.245091322,820.245091322,654,631,656,0.455755139609,0.00457639203526,0.0595990176651,0.999999815296,4.57352006262e-05,-0.00060184466245,-7.14034089378e-05,1793250262947894016
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,746.821619085,720,693.821619085,656,635,890,786.821619085,820.821619085,654,631,656,0.455751623796,0.00457736920283,0.0595972404828,0.999999813776,4.67703411218e-05,-0.00060426779691,-7.15565480745e-05,1793250262964560896
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,747,720,693.602703447,656,635,890,786.602703447,821,654,631,656,0.455731165943,0.00457670842399,0.0595880665361,0.999999804647,4.5379684456e-05,-0.000619297811814,-7.1526749961e-05,1793250262981228032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,747,720,693.027406886,656,635,890,786.027406886,821,654,631,656,0.45570311758,0.00457531379924,0.0595755786313,0.999999791745,4.2902202637e-05,-0.000639976063048,-7.14149908113e-05,1793250262997894912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,747,720,693.562107158,656.562107158,635,889.437892842,786.562107158,821,654,631,656,0.455654419447,0.00457575939759,0.0595562089096,0.999999770023,4.23588760296e-05,-0.000673073949663,-7.16285315361e-05,1793250263014561536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746.850637293,720,693.850637293,656.850637293,635,889.149362707,786.850637293,820.850637293,654,631,656,0.455599387803,0.00457607683859,0.0595364917138,0.999999748917,4.27558138898e-05,-0.000703693494682,-7.17883852643e-05,1793250263031227648
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769,746.271918246,720,693.271918246,656.271918246,635,889.728081754,786.271918246,820.271918246,654,631,656,0.455529119233,0.00457576126606,0.0595167652361,0.999999733283,4.55775044166e-05,-0.000725402961306,-7.17471348559e-05,1793250263047894016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769,746.304252493,720,693,656,635,890,786,820,654,631,656,0.455453693227,0.00457510624185,0.0595034619287,0.999999720662,4.59134776736e-05,-0.000742587404326,-7.16319882676e-05,1793250263064560384
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,746.878164625,720,693,656,635,890,786,820,654,631,656,0.455373696179,0.0045741503609,0.0594958514923,0.99999971089,4.40463542029e-05,-0.000755761308014,-7.14513473512e-05,1793250263081227008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,747,720,693.462677861,656,635,890,786,820,654,631,656,0.455287180524,0.00457607350134,0.0594957950556,0.999999710699,4.91422068103e-05,-0.000755739907422,-7.10185371902e-05,1793250263097893632
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,720,693.950682828,656,635,890,786,820,654,631,656,0.455196623541,0.00457837992485,0.0594980618513,0.999999713285,5.53508658979e-05,-0.00075193335089,-7.04435467658e-05,1793250263114560512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,720,693.371890902,656,635,890,786,820,654,631,656,0.455081539311,0.00457647116168,0.0595034143981,0.99999971818,5.33600747639e-05,-0.000745668209959,-6.90717190873e-05,1793250263131227648
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,746.79321745,720,693,656.20678255,635,889.79321745,786,820,654,631,656,0.454953498061,0.00457737545192,0.0595078226928,0.999999721137,5.57416324134e-05,-0.000741625392392,-6.79044276808e-05,1793250263147894784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,746.214757009,720,693,656.785242991,635,889.214757009,786,820,654,631,656,0.454802167438,0.00458333601893,0.0595105337565,0.999999720603,6.59821966022e-05,-0.000741577054031,-6.71047767758e-05,1793250263164561152
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,746,720,693,657,635,889,786,819.638278356,654,631,656,0.454636080906,0.0045851063379,0.0595121482324,0.999999719891,7.21652278477e-05,-0.000742082470304,-6.57536855686e-05,1793250263181227776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,746,720,693,657,635,889,786,819.06296984,654,631,656,0.454461281392,0.00458440242902,0.0595131152031,0.999999719101,7.59523963326e-05,-0.000742914863765,-6.40769836651e-05,1793250263197894400
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,746.522254971,720,693,657,635.522254971,889,786,819,654,631,656,0.454254970381,0.00458424274162,0.0595141414055,0.999999715294,7.82673235649e-05,-0.000747967327978,-6.18938237154e-05,1793250263214560512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.108118851,747,720,693,657,636,889.108118851,786,819,654,631,656,0.45403777236,0.00458439292841,0.0595152951262,0.999999712209,8.11272991283e-05,-0.000751947797334,-5.97885173299e-05,1793250263231227136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.691435017,747,720,693,657,636,889.691435017,786,819,654,631,656,0.453789746605,0.00458561107112,0.0595169773113,0.999999714047,8.71781309376e-05,-0.00074893705509,-5.82989719108e-05,1793250263247894016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769.729827122,746.729827122,720,693,657,636,890,786,819,654,631,656,0.453517689853,0.00458802075319,0.05951471755,0.999999711369,9.45863381373e-05,-0.000751741684021,-5.65613859977e-05,1793250263264560640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.156231055,746.156231055,720,693,657,636,890,786,819,654,631,656,0.453218644613,0.00459176861787,0.0595080307047,0.999999703535,0.000103518973217,-0.000761077384851,-5.45452332087e-05,1793250263281227520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,746.419130861,720,693,657,636,889.580869139,786.419130861,819,654,630.580869139,656,0.452908452356,0.00459322151074,0.0595084825264,0.999999706259,0.000110983057961,-0.000756578895119,-5.2472471837e-05,1793250263297894656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746.99515377,720,693,657,636,889.00484623,786.99515377,819,654,630.00484623,656,0.452594087474,0.00459381533334,0.059511606545,0.99999971285,0.000117897424278,-0.000746901892415,-5.03785203785e-05,1793250263314561280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,747,720.586120864,693,657.586120864,636,889.586120864,786.413879136,819,654,630.586120864,656,0.452265550661,0.00459568071875,0.0595305611273,0.999999733692,0.000124549191526,-0.000717523814063,-4.75636227197e-05,1793250263331227392
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,747,720.826908572,693,658,636,889.826908572,786,819,654,631,656,0.451917842528,0.00459777522798,0.0595493470738,0.999999752995,0.000132146510741,-0.000688873993491,-4.4722758597e-05,1793250263347893760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,747,720.249567982,693,658,636,889.249567982,786,819,654,631,656,0.451525641298,0.00460037965111,0.0595674254826,0.999999769718,0.000141957337299,-0.00066231538796,-4.18355371189e-05,1793250263364560384
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,746.673134425,720,693,658.326865575,636.326865575,889,786,819,654,630.673134425,656,0.451094390168,0.00460088945305,0.0595763942115,0.999999775801,0.000151376461685,-0.000651175758586,-3.8134537842e-05,1793250263381227264
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,769,747,720,691.710832515,662.289167485,639,889.710832515,786.289167485,819,654,630,656,0.444117375026,0.00462114190267,0.0596557130809,0.999999815473,0.000291515380792,-0.000532794193984,1.42187297095e-05,1793250263581228544
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,746,720,690.09729367,665,640.90270633,889,787,818.09729367,653.90270633,630,655.90270633,0.435982453982,0.00462161782002,0.0597322773441,0.999999884321,0.000199187166004,-0.000437798562042,3.76540150708e-06,1793250263747894272
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,746,720,691,665.254820416,640.254820416,888.745179584,787,818.745179584,653.254820416,630.254820416,655.254820416,0.434215339139,0.00461813324778,0.0597383762472,0.999999902495,0.00022571341293,-0.000379303759427,1.38247817568e-05,1793250263781227264
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746,720,688.235401697,665.764598303,641,887,787.764598303,818,653,630.235401697,656,0.422229146595,0.00456645637799,0.0598492291765,0.999999962612,0.00013244371133,-0.000237032952194,3.23893933931e-05,1793250263997893888
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746,720,688,666,641,887,788,817.056456356,653,630,655.056456356,0.420322397704,0.00456968647343,0.059768459304,0.999999915594,0.000129325656441,-0.000388512278442,3.38528998403e-05,1793250264031227648
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.121047844,641,886,787.121047844,818,653,631,655.121047844,0.418528977901,0.0045690989835,0.0597051227354,0.999999884982,0.000134321797972,-0.000459536821014,2.86123421887e-05,1793250264064560640
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.700011415,641,886,787.700011415,818,653,631,655.700011415,0.417726493536,0.00456472898014,0.0597487455582,0.999999896544,0.000230338148186,-0.000391057187255,3.05166183691e-05,1793250264081227264
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.722083862,641,886,788,818,653,631,656,0.416930345161,0.00456310918858,0.0597901128238,0.999999905022,0.000281595506001,-0.000331077472615,3.23664345231e-05,1793250264097893888
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.14531778,641,886,788,818,653,631,656,0.416141010083,0.00456444676655,0.0598290546312,0.999999919617,0.000284722433118,-0.000280237934565,3.41576886607e-05,1793250264114560512
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,745,720,686.004516976,665.004516976,641,886,787,817.995483024,653,630.995483024,656,0.414581506349,0.00456080133623,0.0598388516859,0.999999925596,0.000261685296931,-0.000281164474852,3.57065452359e-05,1793250264147894016
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,745,720,687,664.477421302,641,886,787,817,653,630.761289349,656,0.4122296756,0.00455891140787,0.0597745772694,0.999999895908,0.000234587129429,-0.000389722533216,3.56165360965e-05,1793250264197894400
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.878840513,745,719,685,665.121159487,641,884.878840513,787,817.878840513,653,630,655,0.40455604014,0.00453927014964,0.0597954180509,0.999999924882,0.000208449720925,-0.000325122819264,3.28473303085e-05,1793250264431227392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,719.452612019,684.547387981,664.547387981,640.547387981,885,787,817.547387981,653,630,655,0.404170602031,0.00453837769356,0.0597739582116,0.999999912116,0.000211430323711,-0.000360497788844,3.32637876287e-05,1793250264447894016
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,745,719.973565833,684,664.026434167,640.026434167,885,787,816.973565833,653.026434167,630,655,0.403799552878,0.00453705742051,0.0597540924656,0.999999900513,0.000207747867101,-0.000393283590333,3.38025296352e-05,1793250264464560640
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745,719.38252988,684,664.61747012,640.61747012,885,787,816.38252988,653.61747012,630,655,0.403519886745,0.00453457058884,0.0597679514358,0.99999991239,0.000203392609921,-0.00036416278545,3.51651511255e-05,1793250264481227520
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745,719.203921853,684,665,640.796078147,885,787,816.203921853,654,630,655,0.403251785667,0.00453201766096,0.0597856089544,0.999999924466,0.000200089294645,-0.000331188577059,3.66972199384e-05,1793250264497894400
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,719.781963209,684,665,640.218036791,885,787,816.781963209,654,630,655,0.403004902125,0.00452934347181,0.0598102353714,0.999999937131,0.000198715895581,-0.000291144833413,3.85401603812e-05,1793250264514561024
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745.345995973,719.654004027,684,665.345995973,640.345995973,885,787,817.345995973,654,630,655.345995973,0.40277626044,0.00452869432061,0.0598285893495,0.999999945292,0.00019776102831,-0.000262148138233,3.98071776267e-05,1793250264531227392
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,745.901544484,719.098455516,684,665.901544484,640.901544484,885,787,817.901544484,654,630,655.901544484,0.402558666918,0.00452927163383,0.0598431444261,0.999999950992,0.000197059644833,-0.000239842086664,4.07253870458e-05,1793250264547894016
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.490621741,745.509378259,719,684,665.509378259,641,884.509378259,787,818,653.509378259,630.490621741,655.509378259,0.402344767716,0.0045266807528,0.0598393006823,0.999999948939,0.000194043851323,-0.000250431614059,4.1863987272e-05,1793250264564560640
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.913365696,745,719.086634304,684.086634304,665.086634304,640.913365696,884,787,818,653,630.913365696,655,0.402137013793,0.00452405078109,0.0598318577963,0.999999945015,0.000191403000476,-0.000267379614137,4.29340545273e-05,1793250264581227008
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.319032525,745,719.680967475,684.680967475,665.680967475,640.319032525,884,787,818,653,630.319032525,655,0.401960609441,0.00452519083905,0.0598265472807,0.999999941048,0.000193880814137,-0.000280066817433,4.33243094268e-05,1793250264597893888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,719.733682876,684.733682876,665.733682876,640.266317124,884,787,817.733682876,653.266317124,630,655,0.401801856934,0.0045249852976,0.0598243451826,0.999999944657,0.00016539443358,-0.000286424928925,3.59490609411e-05,1793250264614561024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,719.158743828,684.158743828,665.158743828,640.841256172,884,787,817.158743828,653.841256172,630,655,0.4016635603,0.00452322040658,0.0598257452782,0.999999953965,0.000101025158228,-0.000285448563049,1.95747492767e-05,1793250264631228416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,719,684,665,641,884.416024861,787,817,654,630,655.416024861,0.401550726733,0.00451614942545,0.0598288513548,0.999999957823,7.16152483433e-05,-0.000281047543527,1.54054520804e-05,1793250264647894784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,719,684,665,641,884.990728558,787,817,654,630,655.990728558,0.401447605208,0.00450705461288,0.0598326081211,0.999999960425,5.5539426448e-05,-0.000275340304108,1.58913518358e-05,1793250264664560896
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,719.581737281,684,665,640.418262719,885,787,817,654,630,655.418262719,0.401363835846,0.00451094577606,0.0598340956872,0.999999960582,6.28907785736e-05,-0.000273177499049,1.59416280923e-05,1793250264681227264
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.169430618,745.169430618,720,684,665,640.169430618,884.830569382,787,817.169430618,653.830569382,630,655.169430618,0.401284283467,0.00451251513609,0.0598339147471,0.999999960228,6.72340776576e-05,-0.000273415036049,1.63782321185e-05,1793250264697893632
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769.748462531,745.748462531,720,684,665,640.748462531,884.251537469,787,817.748462531,653.251537469,630,655.748462531,0.401214158601,0.00450795673129,0.0598297901173,0.999999958825,6.33766995838e-05,-0.000279314937497,1.77660580714e-05,1793250264714560256
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.674791116,745.674791116,719.674791116,684,665,640.674791116,884,787,818,653.325208884,630,655.674791116,0.401153860448,0.00450739554459,0.0598266373507,0.99999995721,6.48129295502e-05,-0.000284669562209,1.85080411318e-05,1793250264731226624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.099800165,745.099800165,719.099800165,684,665,640.099800165,884,787,818,653.900199835,630,655.099800165,0.401101109858,0.00450990448693,0.0598242310392,0.999999955416,7.03150023952e-05,-0.000289605378719,1.87539740141e-05,1793250264747893248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,719.47422251,684,665.47422251,640.47422251,884,787,817.52577749,654,630,655.47422251,0.401063365556,0.00451070849962,0.0598234133332,0.999999954714,7.00467900281e-05,-0.00029209277101,1.86189654052e-05,1793250264764560384
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,719.950489493,684,665.900978987,641,884,787,817,654,630.049510507,655.950489493,0.401030291863,0.00451089711425,0.0598231773839,0.999999954401,6.87659897283e-05,-0.000293470454491,1.85408748846e-05,1793250264781227520
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,719.359127615,684,664.718255231,641,884,787,817,654,630.640872385,655.359127615,0.401013842006,0.00450826950332,0.0598256568565,0.999999955807,6.96663023544e-05,-0.000288331021331,1.99613025465e-05,1793250264797894144
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745.228198951,719,684,664.456397902,640.771801049,884,787,817,653.771801049,630.771801049,655,0.400999273455,0.0045064830849,0.059827897529,0.999999956847,7.00986849631e-05,-0.000284531813602,2.08502728409e-05,1793250264814560768
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745.809285267,719,684,665.618570534,640.190714733,884,787,817,653.190714733,630.190714733,655,0.400987614161,0.00450599748859,0.0598297689204,0.999999957355,6.98074595008e-05,-0.000282805133779,2.09173961959e-05,1793250264831227392
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,746,719.385886205,684,666,640.385886205,884.385886205,787,817,653.385886205,630,655,0.400979704106,0.00450554105616,0.059830680237,0.999999957956,6.91292852418e-05,-0.000280839159237,2.09500955022e-05,1793250264847893760
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,746,719.960295809,684,666,640.960295809,884.960295809,787,817,653.960295809,630,655,0.400973625728,0.00450509887165,0.0598311225123,0.999999958598,6.82620684655e-05,-0.000278756278119,2.09659770537e-05,1793250264864560384
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745.452177354,720,684,665.452177354,641,884.452177354,787,817,654,630,655,0.400970154236,0.00450663152275,0.0598321241956,0.999999958587,7.06217441344e-05,-0.000278204398174,2.09763926768e-05,1793250264881227264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745.13409695,720,684,665.13409695,641,884,787,817,653.86590305,630,655,0.400967647329,0.00450729377161,0.0598330366874,0.99999995869,7.23451458332e-05,-0.000277382109473,2.11109559434e-05,1793250264897893888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745.712985809,720,684,665.712985809,641,884,787,817,653.287014191,630,655,0.40096769783,0.00450458254889,0.0598335155549,0.999999959342,7.11632875717e-05,-0.00027528580897,2.16586560792e-05,1793250264914561024
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,746,720,684,665.710198572,641,884,787,817,653,630,655.289801428,0.400966597549,0.00450332279087,0.0598334364369,0.999999959442,6.95256800034e-05,-0.000275320525427,2.19051364518e-05,1793250264931227648
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,746,720,684,665.135421601,641,884,787,817,653,630,655.864578399,0.40096436565,0.00450349032688,0.0598328086254,0.999999958998,6.74399123002e-05,-0.000277450772079,2.18554131534e-05,1793250264947894016
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745.56301098,719.56301098,684.43698902,665.43698902,641,884,787,817,653,630,655.56301098,0.400962939553,0.00450472785701,0.0598324485756,0.9999999588,6.8351853458e-05,-0.000277953368068,2.16736655201e-05,1793250264964560640
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.990987152,745,719,684.990987152,665.990987152,641,884,787,817,653,630,655,0.400961803657,0.00450622592868,0.059832207121,0.999999958694,7.01230413636e-05,-0.00027790925646,2.14600910121e-05,1793250264981227264
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.396715119,745,719,684.396715119,665.396715119,641,884,787,817,653,630,655,0.400963384163,0.00450322649643,0.0598343074914,0.999999959674,6.76908654678e-05,-0.000274941710057,2.18222854442e-05,1793250264997893888
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.192533192,745,719.192533192,683.807466808,665.192533192,641,884,787,817,653,630,655,0.400964220576,0.00450159463071,0.0598355079055,0.999999960201,6.66855391458e-05,-0.000273255464005,2.19808774089e-05,1793250265014560512
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.771693303,745,719.771693303,683.228306697,665.771693303,641,884,787,817,653,630,655,0.400963562774,0.00450270898274,0.0598349011121,0.999999959838,6.85454771338e-05,-0.000274142204141,2.17306141622e-05,1793250265031227136
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,745,719.650852415,683.349147585,665.650852415,641,884,787,817,653,630,655.349147585,0.400962751852,0.00450373982721,0.0598348009176,0.999999959741,6.96033962668e-05,-0.000274247064034,2.1503391111e-05,1793250265047894016
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,745,719.074508169,683.925491831,665.074508169,641,884,787,817,653,630,655.925491831,0.400961841292,0.00450471633175,0.0598350303762,0.999999959819,7.01394271246e-05,-0.000273843140251,2.12911607422e-05,1793250265064560896
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,719.479177458,684,665.479177458,641,884,787,817,653,630,655.520822542,0.400962664898,0.0045038269927,0.0598358778616,0.999999960156,6.92159924438e-05,-0.000272838871505,2.13538580479e-05,1793250265081227520
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768.966920224,745,719.966920224,684,665.966920224,641,884,787,817,653,630,655,0.400963637835,0.00450276531627,0.0598367187711,0.99999996049,6.81907169495e-05,-0.000271864519671,2.14439019331e-05,1793250265097894144
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768.349796599,745,719.349796599,684,665.349796599,641,884,787,817,653,630,655,0.400962701443,0.00450355194665,0.0598358235154,0.999999960117,6.91931495339e-05,-0.000272992084624,2.1296084935e-05,1793250265114560768
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768,745,719,684,665.250698591,640.749301409,884,787,817,653,630,655,0.400961961346,0.00450332790219,0.0598350941299,0.999999959948,6.86322423258e-05,-0.000273745321906,2.13581858888e-05,1793250265131227136
+404,6.733333333,POSE2_TO_POSE3_RETREAT,768,745,719,684,665.829435603,640.170564397,884,787,817,653,630,655,0.400961478099,0.00450178139259,0.0598345817851,0.999999960045,6.60257094001e-05,-0.000274008752604,2.16949638895e-05,1793250265147893760
+405,6.750000000,POSE2_TO_POSE3_RETREAT,768.405547558,745,719,684,666,640.405547558,884,787,817,653,630,655.405547558,0.400963297328,0.00450218933169,0.0598359808996,0.999999960797,6.5195629456e-05,-0.000271462513228,2.15125390202e-05,1793250265164560384
+406,6.766666667,POSE2_TO_POSE3_RETREAT,768.980562538,745,719,684,666,640.980562538,884,787,817,653,630,655.980562538,0.400966078699,0.00450341398243,0.0598381787616,0.999999961815,6.51078816063e-05,-0.00026774218825,2.11131532104e-05,1793250265181227008
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,745,719.570002424,683.429997576,665.429997576,641,884,787,817.570002424,653,630,655.429997576,0.40096393194,0.004504646872,0.0598367118723,0.999999960779,6.85251043347e-05,-0.000270740144885,2.11194616709e-05,1793250265197893888
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,745,719.843105606,683.156894394,665.156894394,641,884,787,818,653.156894394,630,655.156894394,0.400962664154,0.00450498717843,0.0598359331224,0.999999960174,7.06521684082e-05,-0.000272412178185,2.12369667793e-05,1793250265214560768
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,745,719.26442017,683.73557983,665.73557983,641,884,787,818,653.73557983,630,655.73557983,0.400964222897,0.00450292711126,0.05983734904,0.999999960967,6.89811391545e-05,-0.00026988773928,2.16152523971e-05,1793250265231227648
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bf749d2a7b8eaada9e1ee25b9d14887db2ca3dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/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
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+1,0.016666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+2,0.033333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+3,0.050000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+4,0.066666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+5,0.083333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+6,0.100000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+8,0.133333333,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+9,0.150000000,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+377,6.283333333,pose2_to_pose3_retreat,0.575930665627,0.0101501440878,1.05003357836,0.546501343481,0.018822775685,1.04970497047
+378,6.300000000,pose2_to_pose3_retreat,0.575873503036,0.0101501237705,1.05003358185,0.546444181794,0.0188227585117,1.0497049759
+379,6.316666667,pose2_to_pose3_retreat,0.575824128632,0.0101501234617,1.05003348388,0.546394807974,0.018822760416,1.04970488409
+380,6.333333333,pose2_to_pose3_retreat,0.575782583454,0.0101502100248,1.05003351868,0.546353261341,0.0188228419443,1.04970491631
+381,6.350000000,pose2_to_pose3_retreat,0.57575000446,0.010150245666,1.0500335762,0.546320682204,0.0188228772786,1.04970497855
+382,6.366666667,pose2_to_pose3_retreat,0.575725188842,0.0101501056652,1.05003339384,0.546295866642,0.0188227372169,1.0497047895
+383,6.383333333,pose2_to_pose3_retreat,0.575707169893,0.0101500225074,1.05003357897,0.546277849729,0.0188226609542,1.04970497426
+384,6.400000000,pose2_to_pose3_retreat,0.575694023541,0.0101500334336,1.05003361354,0.54626470301,0.0188226707259,1.04970501132
+385,6.416666667,pose2_to_pose3_retreat,0.575685236756,0.0101500521828,1.05003350013,0.546255915505,0.0188226870399,1.04970489816
+386,6.433333333,pose2_to_pose3_retreat,0.575678614638,0.0101500422504,1.05003321636,0.546249293189,0.0188226762694,1.04970461
+387,6.450000000,pose2_to_pose3_retreat,0.575673945114,0.0101500425877,1.05003334682,0.546244623461,0.0188226759068,1.04970473998
+388,6.466666667,pose2_to_pose3_retreat,0.575671031885,0.0101500444576,1.05003350294,0.546241710091,0.0188226773154,1.04970489638
+389,6.483333333,pose2_to_pose3_retreat,0.575669256583,0.010150129676,1.05003355453,0.54623993435,0.0188227611106,1.04970494992
+390,6.500000000,pose2_to_pose3_retreat,0.575668013039,0.010150196248,1.0500335871,0.54623869047,0.0188228265923,1.049704984
+391,6.516666667,pose2_to_pose3_retreat,0.575667053381,0.0101502380443,1.05003361263,0.546237730701,0.0188228680249,1.04970501
+392,6.533333333,pose2_to_pose3_retreat,0.575666335923,0.0101502064564,1.05003363432,0.546237014134,0.0188228392987,1.04970502745
+393,6.550000000,pose2_to_pose3_retreat,0.575665806312,0.0101501831388,1.05003365033,0.546236485181,0.0188228180937,1.04970504034
+394,6.566666667,pose2_to_pose3_retreat,0.575665514479,0.0101501702901,1.05003365915,0.54623619371,0.018822806409,1.04970504744
+395,6.583333333,pose2_to_pose3_retreat,0.575665415906,0.0101501659502,1.05003366213,0.54623609526,0.0188228024622,1.04970504983
+396,6.600000000,pose2_to_pose3_retreat,0.575665392861,0.0101501649356,1.05003366283,0.546236072243,0.0188228015395,1.04970505039
+397,6.616666667,pose2_to_pose3_retreat,0.57566538824,0.0101501647321,1.05003366297,0.546236067628,0.0188228013545,1.04970505051
+398,6.633333333,pose2_to_pose3_retreat,0.575665299932,0.0101501608441,1.05003366564,0.54623597943,0.0188227978188,1.04970505266
+399,6.650000000,pose2_to_pose3_retreat,0.57566523338,0.0101501597597,1.05003366352,0.546235912874,0.0188227967104,1.04970505024
+400,6.666666667,pose2_to_pose3_retreat,0.575665165392,0.0101501707226,1.05003363436,0.546235844317,0.0188228057555,1.04970502142
+401,6.683333333,pose2_to_pose3_retreat,0.575665102994,0.010150180784,1.05003360759,0.546235781397,0.0188228140569,1.04970499497
+402,6.700000000,pose2_to_pose3_retreat,0.575665074326,0.0101501854067,1.05003359529,0.546235752489,0.0188228178709,1.04970498281
+403,6.716666667,pose2_to_pose3_retreat,0.575665024406,0.0101501934562,1.05003357388,0.546235702151,0.0188228245122,1.04970496165
+404,6.733333333,pose2_to_pose3_retreat,0.575664831738,0.0101502245231,1.05003349123,0.546235507871,0.0188228501446,1.04970487997
+405,6.750000000,pose2_to_pose3_retreat,0.57566473461,0.0101502401846,1.05003344957,0.54623540993,0.0188228630664,1.0497048388
+406,6.766666667,pose2_to_pose3_retreat,0.575664679135,0.0101502491298,1.05003342577,0.54623535399,0.0188228704469,1.04970481528
+407,6.783333333,pose2_to_pose3_retreat,0.575664443986,0.0101503024699,1.05003348146,0.546235118957,0.0188229241959,1.04970487136
+408,6.800000000,pose2_to_pose3_retreat,0.575664362504,0.0101503226339,1.05003351782,0.546235037743,0.0188229452691,1.04970490778
+409,6.816666667,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21ba1b422aef62fa24e1af03fd027c4dbeab3119
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98fcc83b6109ddc5c19649221e95a798af3e16c895fcd432d3856b61a7eca3a0
+size 26288084
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b4a12446c0512077244d745dd58e372d6c769b2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
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+27,0.450000000,BASELINE,769,745,720,684,666,641,884,787,817.671467024,653,630,655,0.400962410964,0.00450320579128,0.0598377871492,0.999999961222,6.89299475259e-05,-0.000268969468818,2.1458429636e-05,1793250265832787712
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+37,0.616666667,BASELINE,769,745.471073152,720,684.471073152,666,641,884,787,818,653.471073152,630.528926848,655.471073152,0.400964881541,0.00450313782655,0.059840206749,0.999999962267,6.70721025056e-05,-0.000265523876469,2.15612623251e-05,1793250265999454464
+38,0.633333333,BASELINE,769,745.953244069,720,684.953244069,666,641,884,787,817.953244069,653.953244069,630,656,0.400965045121,0.00450277583292,0.0598408002892,0.999999962377,6.8142911041e-05,-0.000264823627424,2.17175596153e-05,1793250266016120832
+39,0.650000000,BASELINE,769,745.376446151,720,684.376446151,666,641,884,787,817.376446151,653.376446151,630,656,0.40096333493,0.00450249569962,0.059839637496,0.999999961854,6.85045793171e-05,-0.000266697029266,2.17254626317e-05,1793250266032787456
+40,0.666666667,BASELINE,769,745,720,684,666,641,884.204855879,787,817.204855879,653,630,656,0.400962235235,0.00450221109541,0.0598385527218,0.999999961463,6.82866104627e-05,-0.000268213793601,2.17503122799e-05,1793250266049454080
+41,0.683333333,BASELINE,769,745,720,684,666,641,884.794620764,787,817.794620764,653,630,656,0.400962282617,0.0045019180907,0.0598376145395,0.999999961322,6.69795464001e-05,-0.000269060462392,2.18070033921e-05,1793250266066120960
+42,0.700000000,BASELINE,769,745,720,683.624297725,666,640.624297725,884.624297725,787,818,653,630,656,0.400962466831,0.00450210068479,0.0598380555142,0.9999999613,6.85425378516e-05,-0.000268745900478,2.18529655279e-05,1793250266082787840
+43,0.716666667,BASELINE,769,745,720,683.047855804,666,640.047855804,884.047855804,787,818,653,630,656,0.400962724155,0.00450253739376,0.0598392333796,0.999999961333,7.16390146804e-05,-0.000267810887029,2.18931951147e-05,1793250266099454976
+44,0.733333333,BASELINE,769,745,720,683.527387227,666,640.527387227,884,787,818,653.527387227,630.527387227,656,0.400963254648,0.00450272345321,0.0598395908926,0.999999961663,7.03071010108e-05,-0.000266946088546,2.16848129136e-05,1793250266116121600
+45,0.750000000,BASELINE,769,745,719.894422752,684,666,641,884,787,818,654,630.894422752,656,0.400963862292,0.00450282963179,0.0598399638428,0.999999962044,6.8818986391e-05,-0.000265920180881,2.1502797537e-05,1793250266132787968
+46,0.766666667,BASELINE,769,745,719.30214727,684,666,641,884,787,818,654,630.30214727,656,0.400964711589,0.00450267217979,0.059840750336,0.999999962544,6.84590272627e-05,-0.000264122275068,2.15460900854e-05,1793250266149454336
+47,0.783333333,BASELINE,769,745,719,684,666,641,884,787,817.717034604,653.717034604,630,656,0.400964209536,0.00450214747919,0.0598406654881,0.999999962476,6.80244983574e-05,-0.000264477701916,2.1727197849e-05,1793250266166120960
+48,0.800000000,BASELINE,769,745,719,684,666,641,884,787,817.139381415,653.139381415,630,656,0.400962300152,0.00450124031597,0.0598396732022,0.999999961813,6.75123104315e-05,-0.000267075667235,2.20518300986e-05,1793250266182787840
+49,0.816666667,BASELINE,769,745.436918694,719.436918694,684,666,641,884,787,817,653,630,656,0.400963045968,0.00450206060146,0.0598397537804,0.999999961843,6.82030996086e-05,-0.00026680827493,2.1827073264e-05,1793250266199454464
+50,0.833333333,BASELINE,769,745.986973601,720,684.013026399,666,641,884.013026399,787,817,653,630,655.986973601,0.400964620242,0.00450340084779,0.0598401886745,0.999999962093,6.92808793578e-05,-0.000265620624937,2.14467120809e-05,1793250266216120832
+51,0.850000000,BASELINE,769,745.400389124,720,684.599610876,666,641,884.599610876,787,817,653,630,655.400389124,0.400965491654,0.00450344611099,0.0598412011693,0.999999962413,7.05529984797e-05,-0.000264036605166,2.19079986741e-05,1793250266232787968
+52,0.866666667,BASELINE,769,745.183860021,720,684.816139979,666,641,884.816139979,787,817.183860021,653,630,655,0.400965696524,0.00450326564972,0.0598416771421,0.999999962563,7.09126015929e-05,-0.00026336024027,2.20692062845e-05,1793250266249454848
+53,0.883333333,BASELINE,769,745.763087299,720,684.236912701,666,641,884.236912701,787,817.763087299,653,630,655,0.40096446808,0.00450259979711,0.0598409993937,0.999999962349,6.93099566734e-05,-0.000264635670184,2.15851327268e-05,1793250266266121472
+54,0.900000000,BASELINE,769,745.658527571,720,684,666,641,884.341472429,787,817.658527571,653,630,655,0.400963420567,0.00450290573947,0.0598403452476,0.999999962152,6.87418522807e-05,-0.000265550007252,2.13045945822e-05,1793250266282788096
+55,0.916666667,BASELINE,769,745.080725307,720,684,666,641,884.919274693,787,817.080725307,653,630,655,0.400962498276,0.00450388425195,0.0598397074366,0.999999961968,6.88897436559e-05,-0.000266214435332,2.11649213895e-05,1793250266299454464
+56,0.933333333,BASELINE,769,745,720,684,666.493284632,641,885,787,817.493284632,653.493284632,630.493284632,655,0.400961889681,0.00450409375232,0.0598393232179,0.999999961588,6.98707832259e-05,-0.000267368522876,2.1365918267e-05,1793250266316121088
+57,0.950000000,BASELINE,769,745,720,684,666.931027112,641,884.931027112,787,818,653.931027112,631,655.068972888,0.400961691057,0.00450416460193,0.0598392057838,0.999999961295,7.09768976521e-05,-0.000268150354364,2.1623970462e-05,1793250266332787456
+58,0.966666667,BASELINE,769,745,720,684,666.3379048,641,884.3379048,787,818,653.3379048,631,655.6620952,0.400964220809,0.0045041308603,0.0598408027742,0.999999961923,7.20052820445e-05,-0.000265498973409,2.18951731399e-05,1793250266349454080
+59,0.983333333,BASELINE,769,745,720,684.247874907,666,641,884.247874907,787,817.752125093,653.247874907,630.752125093,656,0.400965174943,0.0045046000772,0.0598413511702,0.999999962268,7.21592161679e-05,-0.000264161516315,2.18129536873e-05,1793250266366120960
+60,1.000000000,BASELINE,769,745,720,684.823933174,666,641,884.823933174,787,817.176066826,653.823933174,630.176066826,656,0.400964042979,0.00450573520505,0.0598405112402,0.999999962245,7.11553889168e-05,-0.000264563678063,2.12628076715e-05,1793250266382788352
+61,1.016666667,BASELINE,769,745.399731754,720,684.600268246,666,641,885,787,817.399731754,653.600268246,630,655.600268246,0.400964190639,0.00450400950099,0.0598400583158,0.999999962302,6.99914619949e-05,-0.000264644782515,2.14765031213e-05,1793250266399454976
+62,1.033333333,BASELINE,769,745.975415991,720,684.024584009,666,641,885,787,817.975415991,653.024584009,630,655.024584009,0.40096490156,0.00450102452618,0.0598397757422,0.999999962391,6.87570630371e-05,-0.000264584565098,2.20264235867e-05,1793250266416121344
+63,1.050000000,BASELINE,768.436316921,745.436316921,720,683.436316921,665.436316921,641,884.436316921,787,817.436316921,653,630,655,0.400965119229,0.00450250762524,0.0598401463465,0.999999962453,6.94056739554e-05,-0.000264205451559,2.17212719496e-05,1793250266432787968
+64,1.066666667,BASELINE,768,745,720,683.149936015,665.149936015,641,884,787,817,653,630,655,0.40096526515,0.0045036820072,0.0598405338281,0.9999999625,6.96806606586e-05,-0.000263978816759,2.1427691014e-05,1793250266449454336
+65,1.083333333,BASELINE,768,745,720,683.728820838,665.728820838,641,884,787,817,653,630,655,0.400965268753,0.00450340296742,0.0598408862346,0.999999962509,6.86464423075e-05,-0.000264229103012,2.12763375007e-05,1793250266466120960
+66,1.100000000,BASELINE,768.295845207,745,720,684,666,641,884.295845207,787,817,653.295845207,630.295845207,655,0.400964899096,0.00450275045214,0.0598409290051,0.999999962543,6.78632407881e-05,-0.000264298905346,2.13014006608e-05,1793250266482787584
+67,1.116666667,BASELINE,768.852417,745,720,684,666,641,884.852417,787,817,653.852417,630.852417,655,0.400964200486,0.00450176879516,0.0598406988952,0.999999962601,6.73012589332e-05,-0.000264209648287,2.14819387723e-05,1793250266499454208
+68,1.133333333,BASELINE,769,745,720,684,666,640.562691129,884.562691129,787.437308871,817,653.562691129,630.562691129,655.437308871,0.400964715856,0.00450176650101,0.0598406216367,0.999999962741,6.6958294298e-05,-0.000263776019535,2.13929105913e-05,1793250266516121088
+69,1.150000000,BASELINE,769,745,720,684,666,640.032124665,884.032124665,787.967875335,817.032124665,653,630,656,0.400965614254,0.00450216152993,0.0598406420237,0.999999962901,6.67705240519e-05,-0.000263228300126,2.12122721309e-05,1793250266532787968
+70,1.166666667,BASELINE,769,745,720,684,666,640.621813694,884.621813694,787.378186306,817.621813694,653,630,656,0.400965557434,0.00450331887065,0.0598413998656,0.999999962924,6.7904648474e-05,-0.000262857187822,2.11299106579e-05,1793250266549455104
+71,1.183333333,BASELINE,769,745,720,684,666.207732606,641,884.792267394,787,818,653,630,655.792267394,0.400965733626,0.00450311673537,0.0598418625283,0.999999963003,6.77397848786e-05,-0.000262587984477,2.13025711753e-05,1793250266566121728
+72,1.200000000,BASELINE,769,745,720,684,666.786910302,641,884.213089698,787,818,653,630,655.213089698,0.400966326467,0.0045004837316,0.0598417973832,0.999999963177,6.52522108954e-05,-0.000262501003705,2.19312345567e-05,1793250266582788352
+73,1.216666667,BASELINE,768.636058675,745,720,684,666.636058675,641,884,787,818,653,630.363941325,655.363941325,0.400966078521,0.00450007443514,0.0598412783632,0.999999963071,6.46781527586e-05,-0.000263053516437,2.18529059568e-05,1793250266599454720
+74,1.233333333,BASELINE,768.060277206,745,720,684,666.060277206,641,884,787,818,653,630.939722794,655.939722794,0.400965341178,0.00450095949716,0.0598404951553,0.999999962803,6.52178992407e-05,-0.000263978260596,2.13630569076e-05,1793250266616121344
+75,1.250000000,BASELINE,768.513918645,745.513918645,720,684,666,641,884.513918645,787,817.486081355,653.513918645,630.486081355,656,0.400964876888,0.00450161680076,0.0598402901288,0.999999962708,6.56079839009e-05,-0.000264235503571,2.14144149431e-05,1793250266632787968
+76,1.266666667,BASELINE,768.909579716,745.909579716,720,683.909579716,666,641,884.909579716,787.090420284,817.090420284,653.909579716,630,655.909579716,0.400964541478,0.0045023442875,0.0598402380208,0.999999962625,6.64494449702e-05,-0.000264333047631,2.15037799439e-05,1793250266649454080
+77,1.283333333,BASELINE,768.319306517,745.319306517,720,683.319306517,666,641,884.319306517,787.680693483,817.680693483,653.319306517,630,655.319306517,0.400964742038,0.00450360697578,0.0598406575304,0.999999962486,6.98829031667e-05,-0.00026397922781,2.14534185469e-05,1793250266666121216
+78,1.300000000,BASELINE,768.266612751,745,720,683.533225502,666,641,884,787.733387249,817.733387249,653.266612751,630,655,0.400964920248,0.00450392064822,0.0598409791735,0.999999962521,7.05291777731e-05,-0.000263668801977,2.14961466546e-05,1793250266682788096
+79,1.316666667,BASELINE,768.847401316,745,720,684.694802631,666,641,884,787.152598684,817.152598684,653.847401316,630,655,0.400965072119,0.00450311600261,0.059841185491,0.999999962769,6.7891041809e-05,-0.000263409511543,2.16485712107e-05,1793250266699454976
+80,1.333333333,BASELINE,769,745,720,684.575851788,666,641,884.424148212,787,817,653.575851788,630,655,0.400965202386,0.00450285555536,0.0598412819882,0.999999962784,6.85254593197e-05,-0.00026317293824,2.18064001054e-05,1793250266716121856
+81,1.350000000,BASELINE,769,745,720,684.000545218,666,641,884.999454782,787,817,653.000545218,630,655,0.400965324955,0.00450278904999,0.0598413393475,0.999999962716,7.03261524489e-05,-0.000262944460871,2.19661550161e-05,1793250266732788736
+82,1.366666667,BASELINE,769,745,719.429493022,684,666.570506978,641,884.429493022,787,817,653.570506978,630,655.570506978,0.40096472083,0.00450231981679,0.0598410584971,0.999999962647,6.99014099908e-05,-0.000263323849804,2.19010082162e-05,1793250266749454848
+83,1.383333333,BASELINE,769,745,719,684,666.852621248,641,884,787,817,653.852621248,630,656,0.400964681195,0.00450205033158,0.0598410039569,0.999999962662,6.96509764041e-05,-0.000263342034218,2.18268541291e-05,1793250266766120704
+84,1.400000000,BASELINE,769,745,719,684,666.258079879,641,884,787,817,653.258079879,630,656,0.400966356378,0.00450238806175,0.059841637039,0.999999962928,6.99358192759e-05,-0.000262262536742,2.1726018271e-05,1793250266782787584
+85,1.416666667,BASELINE,769,745,719.326823823,684,666,641,884,787,817,653.326823823,630,656,0.400967579885,0.00450310281603,0.0598425121769,0.999999963241,7.07729400303e-05,-0.000260845722631,2.16483160929e-05,1793250266799454208
+86,1.433333333,BASELINE,769,745,719.904335004,684,666,641,884,787,817,653.904335004,630,656,0.40096845694,0.00450410676334,0.0598435729816,0.999999963588,7.20336806891e-05,-0.000259170172808,2.15883584076e-05,1793250266816121344
+87,1.450000000,BASELINE,769,745.480601992,720,684,666,641,884.480601992,787,817,653.519398008,630.480601992,656,0.400967491287,0.00450444146895,0.0598431601734,0.999999963518,7.05456095162e-05,-0.000259868905,2.13191755926e-05,1793250266832788224
+88,1.466666667,BASELINE,769,746,720,684,666.057853196,641,884.942146804,787,817,653.057853196,630.942146804,655.942146804,0.400966198922,0.00450448492942,0.0598424742805,0.999999963337,6.88496819394e-05,-0.000261037698927,2.10868353189e-05,1793250266849455104
+89,1.483333333,BASELINE,769,746,720,684,666.646398644,641,884.353601356,787,817,653.646398644,630.353601356,655.353601356,0.400965265561,0.00450307560342,0.0598419671183,0.999999962927,7.02532335371e-05,-0.000262194342743,2.15734976748e-05,1793250266866121472
+90,1.500000000,BASELINE,769,746,720,684,666.768221102,640.768221102,884.231778898,787,817.231778898,653.768221102,630,655,0.400964912668,0.00450218662111,0.0598419933734,0.999999962765,7.09196522059e-05,-0.000262607171899,2.18590246428e-05,1793250266882788096
+91,1.516666667,BASELINE,769,746,720,684,666.187604659,640.187604659,884.812395341,787,817.812395341,653.187604659,630,655,0.400965433405,0.00450208077931,0.0598428224453,0.999999962982,7.0476652919e-05,-0.00026190052682,2.18418338662e-05,1793250266899454464
+92,1.533333333,BASELINE,769,746,720,684,666,640.777270879,885,787,818,653.388635439,630,655.388635439,0.400965470981,0.00450296332054,0.0598424029063,0.999999962878,7.1025144657e-05,-0.000262174359684,2.15500224117e-05,1793250266916121088
+93,1.550000000,BASELINE,769,746,720,684,666,641.925573071,885,787,818,653.962786535,630,655.962786535,0.400965277921,0.00450431766774,0.0598413873414,0.999999962619,7.20469259469e-05,-0.000262916224967,2.11271204011e-05,1793250266932787712
+94,1.566666667,BASELINE,769,745.463092573,720,684,666,641.463092573,884.463092573,787,817.463092573,653.463092573,630.536907427,656,0.400964640463,0.00450325181507,0.0598412914831,0.999999962605,7.08135937422e-05,-0.000263267913029,2.15875091415e-05,1793250266949454336
+95,1.583333333,BASELINE,769,745,720,684,666,641,884,787,817,653,630.885263418,656,0.400964420993,0.00450242777082,0.0598413783255,0.999999962676,6.97582249652e-05,-0.000263249476041,2.19611798366e-05,1793250266966120960
+96,1.600000000,BASELINE,769,745,720,684,666,641,884,787,817,653,630.291958109,656,0.400966073422,0.00450331194659,0.0598419613475,0.999999963038,7.0097054149e-05,-0.000261800032292,2.17178058229e-05,1793250266982787840
+97,1.616666667,BASELINE,768.706513418,745.293486582,720,684,666,641,884.293486582,787,817.293486582,653,630,655.706513418,0.400966872201,0.00450333763052,0.0598423182337,0.999999963298,6.92422442939e-05,-0.000261053521094,2.14784567226e-05,1793250266999454720
+98,1.633333333,BASELINE,768.128684466,745.871315534,720,684,666,641,884.871315534,787,817.871315534,653,630,655.128684466,0.400966843928,0.00450253157073,0.0598424560298,0.999999963457,6.72309858e-05,-0.000260988041142,2.12430071452e-05,1793250267016121088
+99,1.650000000,BASELINE,768.446328853,745.553671147,719.553671147,683.553671147,666,641,884.553671147,787,817.553671147,653.446328853,630.446328853,655,0.400965737827,0.00450255471071,0.0598415326603,0.999999962988,6.88931487238e-05,-0.000262336599086,2.13923144667e-05,1793250267032787712
+100,1.666666667,BASELINE,768.978938821,745,719.021061179,683.021061179,666,641,884.021061179,787,817,653.978938821,631,655,0.400964326826,0.00450280948048,0.0598403280779,0.999999962349,7.14231405652e-05,-0.000264068818717,2.16423172353e-05,1793250267049454080
+101,1.683333333,BASELINE,768.390032065,745,719.609967935,683.609967935,666,641,884.609967935,787,817,653.390032065,631,655,0.400963021191,0.00450290397962,0.059839738808,0.999999962216,6.89748221318e-05,-0.000265222048063,2.16350697425e-05,1793250267066120960
+102,1.700000000,BASELINE,768.195435287,745.195435287,720,684,666,641,885,787,816.804564713,653.195435287,630.804564713,655.195435287,0.400962847455,0.00450294296454,0.0598398187848,0.999999962304,6.76527013023e-05,-0.000265228461896,2.1659647355e-05,1793250267082787584
+103,1.716666667,BASELINE,768.774157228,745.774157228,720,684,666,641,885,787,816.225842772,653.774157228,630.225842772,655.774157228,0.400964893593,0.00450287307528,0.0598412112846,0.999999962834,6.85392735655e-05,-0.000262985747052,2.17466401972e-05,1793250267099454464
+104,1.733333333,BASELINE,769,745.648807557,720,684,665.648807557,641,884.648807557,787,816.351192443,654,630,655.648807557,0.400965319333,0.00450238560381,0.0598415093921,0.999999963047,6.78707774677e-05,-0.00026234608922,2.17517332682e-05,1793250267116121088
+105,1.750000000,BASELINE,769,745.072851791,720,684,665.072851791,641,884.072851791,787,816.927148209,654,630,655.072851791,0.400964708017,0.00450163087953,0.0598411070882,0.999999963059,6.62070369959e-05,-0.000262732388387,2.17044104569e-05,1793250267132787200
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787,817,654,630,655,0.400967025944,0.0045028005053,0.0598424947746,0.999999963452,6.79114678369e-05,-0.00026081334643,2.14530017709e-05,1793250267163880704
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,787,817.589465034,653.410534966,630.589465034,655.589465034,0.400965857393,0.00450444725971,0.0598417569441,0.999999962758,7.24900164223e-05,-0.000262226559277,2.15988616638e-05,1793250267180545536
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,786.823125657,817.823125657,653,630.823125657,655.823125657,0.400965219051,0.00450494980746,0.0598414188424,0.999999962448,7.42531046325e-05,-0.00026291469175,2.15862610735e-05,1793250267197210880
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884,786.240432863,817.240432863,653,630.240432863,655.240432863,0.400965797211,0.004502827101,0.0598419978737,0.99999996305,6.95564339639e-05,-0.000261939208472,2.1210090609e-05,1793250267213877504
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,720,684.336381043,666,641,884,786.672762087,817,653.336381043,630,655,0.400965782077,0.00450194370092,0.0598420985752,0.999999963199,6.75775076054e-05,-0.000261896852794,2.11257378884e-05,1793250267230544128
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,720,684.909065079,666,641,884,787.818130158,817,653.909065079,630,655,0.400965350162,0.0045019308964,0.0598418632567,0.99999996304,6.75077590096e-05,-0.000262510006303,2.12463830865e-05,1793250267247210752
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,719.513627402,684.027254803,665.513627402,641,884,787.513627402,817,653.513627402,630,655,0.400965125526,0.00450164952782,0.0598415772936,0.99999996297,6.76046429209e-05,-0.00026273333198,2.14478838568e-05,1793250267263877376
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,719.065774051,683.065774051,665.065774051,640.934225949,884.065774051,787,817.065774051,653,630,655,0.400964773897,0.00450132677607,0.0598411863895,0.999999962872,6.76431299119e-05,-0.000263080779191,2.16322200122e-05,1793250267280544000
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,719.654892278,683.654892278,665.654892278,640.345107722,884.654892278,787,817.654892278,653,630,655,0.400963100498,0.00450107810881,0.0598400365644,0.999999962412,6.69667040633e-05,-0.000265001308327,2.15585451209e-05,1793250267297210624
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.760653211,745,720,684,666,640.239346789,884.760653211,787,818,653.239346789,630,655,0.400964741881,0.00450172607856,0.0598410947256,0.999999962658,6.71961221567e-05,-0.000264018308699,2.1508762006e-05,1793250267313877248
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.182794714,745,720,684,666,640.817205286,884.182794714,787,818,653.817205286,630,655,0.400971071408,0.00450364217534,0.0598452756747,0.999999963887,6.87066888096e-05,-0.000258928805169,2.14927693902e-05,1793250267330543872
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.391946467,745,720,684.391946467,666,641,884,787,817.608053533,654,630,655.391946467,0.400992444597,0.00450292379752,0.0598535757679,0.999999967598,6.82225659643e-05,-0.000244290709483,2.17011910187e-05,1793250267347211264
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.965245328,745,720,684.965245328,666,641,884,787,817.034754672,654,630,655.965245328,0.40102077844,0.0045009864568,0.0598637817765,0.99999997216,6.68155066971e-05,-0.000225234509827,2.20134484017e-05,1793250267363878912
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,720,684.44620846,666,641,884.55379154,787,817,654,630,656,0.401074908828,0.00450167093657,0.0598831233703,0.999999979393,6.77189892592e-05,-0.000190103261454,2.20897927588e-05,1793250267380545280
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,719.859375386,684,666,641,885,787,817.140624614,653.859375386,630.140624614,655.859375386,0.401133911044,0.00450229051284,0.0599019423527,0.999999984876,6.82424673436e-05,-0.000158417476793,2.22330393155e-05,1793250267397211648
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,719.280939198,684,666,641,885,787,817.719060802,653.280939198,630.719060802,655.280939198,0.401202897932,0.00450218125341,0.0599172987764,0.999999987595,6.71186362849e-05,-0.000140688326068,2.26319739908e-05,1793250267413878528
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.702587505,745,719.297412495,684,666,641,884.702587505,787,818,653,630.702587505,655.297412495,0.401280856377,0.00450144386633,0.0599276061148,0.999999989773,6.51817760332e-05,-0.000125292537191,2.25365240803e-05,1793250267430545408
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.124315641,745,719.875684359,684,666,641,884.124315641,787,818,653,630.124315641,655.875684359,0.401367287043,0.0045001133114,0.0599331453846,0.999999991524,6.24771375316e-05,-0.000112100243017,2.19742055882e-05,1793250267447212288
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.449133329,745,720,684,666,640.550866671,884.449133329,787,817.550866671,653.449133329,630,656,0.40146636864,0.00449911967757,0.0599367113728,0.999999992458,5.95620762675e-05,-0.000105292822197,2.12177660347e-05,1793250267463878400
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.021945992,720,684,666,640.021945992,884.978054008,787,817,653.978054008,630,655.978054008,0.401569876533,0.00449825341664,0.0599397981027,0.999999993179,5.66733171821e-05,-0.000100066628384,2.03948692208e-05,1793250267480544512
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.612492048,720,684,666,640.612492048,884.387507952,787,817,653.387507952,630,655.387507952,0.401698304962,0.00449829675161,0.0599444684885,0.999999994154,5.59590094528e-05,-9.05067078759e-05,1.92274509275e-05,1793250267497211392
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.800635851,745.800635851,720,684,666,641,884.199364149,787,817,653.199364149,630,655,0.401836165514,0.004498462411,0.0599477594074,0.999999995007,5.38975987934e-05,-8.22361586313e-05,1.78385750567e-05,1793250267513878016
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.220775738,745.220775738,720,684,666,641,884.779224262,787,817,653.779224262,630,655,0.401992027705,0.00449886153234,0.0599484175476,0.999999995738,4.92651781752e-05,-7.64264369065e-05,1.60270369968e-05,1793250267530544640
+129,2.150000000,POSE1_TO_POSE2_PRESS,768.35565505,745,720,684,666,641,885,787,817.35565505,654,630,655,0.402167467656,0.00449869683671,0.0599485816289,0.999999996251,4.52502431196e-05,-7.24367790157e-05,1.42472505176e-05,1793250267547211520
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.929977444,745,720,684,666,641,885,787,817.929977444,654,630,655,0.402354944612,0.00449818548961,0.059948441948,0.999999996636,4.16149561738e-05,-6.95661501444e-05,1.24869856825e-05,1793250267563878656
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,720,684,666,641,884.481851459,787,817.481851459,654,630,655,0.402571245685,0.0044973555548,0.0599489919914,0.999999997118,3.88010542483e-05,-6.43877904184e-05,1.06022518267e-05,1793250267580545536
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.106202393,720,684,666,641.106202393,884.106202393,787,817.106202393,654,630.106202393,655.106202393,0.402799521642,0.00449647202869,0.0599498544973,0.999999997633,3.53942358323e-05,-5.83722366723e-05,8.54310706742e-06,1793250267597212160
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.685174506,720,684,666,641.685174506,884.685174506,787,817.685174506,654,630.685174506,655.685174506,0.40306328855,0.00449554685732,0.059951681635,0.999999998315,2.8840289441e-05,-5.00562622427e-05,5.78449082517e-06,1793250267613878272
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.737291302,720,684.262708698,666,641.737291302,885,787,818,653.737291302,630.737291302,655.737291302,0.403340199655,0.00449414890204,0.0599525783995,0.999999998728,2.15553809154e-05,-4.54829449042e-05,3.24749223333e-06,1793250267630544896
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.161470941,720,684.838529059,666,641.161470941,885,787,818,653.161470941,630.161470941,655.161470941,0.403632776773,0.00449218745515,0.0599523662905,0.999999998881,1.33992691671e-05,-4.5370346679e-05,9.74630743696e-07,1793250267647211520
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,885,787,817.588062408,653.411937592,630,655.411937592,0.403946986239,0.00449165277532,0.0599412040587,0.999999997935,6.89514892604e-06,-6.38525900856e-05,-2.19900032109e-06,1793250267663878144
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,885,787,817.015593771,653.984406229,630,655.984406229,0.404269625772,0.00449167410308,0.0599257745915,0.999999995971,1.03480581369e-06,-8.95811965494e-05,-5.72365897304e-06,1793250267680544512
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,885.575987732,787,817,654,630,656,0.404613634889,0.00448716688868,0.0599101427827,0.999999992942,-1.02152235192e-05,-0.000118096832617,-8.09816419092e-06,1793250267697211392
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,885.835185928,787,817.164814072,653.835185928,630,655.835185928,0.404979477409,0.00448048019732,0.0598986386042,0.999999989916,-2.43092463442e-05,-0.000139553635984,-1.00461419786e-05,1793250267713878784
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,720,685,666,641,885.254659016,787,817.745340984,653.254659016,630,655.254659016,0.40539888123,0.00446861603491,0.0598975598994,0.999999988692,-4.51960354347e-05,-0.000143008993081,-1.09995192927e-05,1793250267730545408
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,719.677158607,685,666.322841393,641,885,787,817.677158607,653,630.322841393,655.322841393,0.40586281699,0.00445927274914,0.0599124322431,0.999999990778,-6.31115875951e-05,-0.000119602453624,-1.24886320459e-05,1793250267747212288
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,719.102023287,685,666.897976713,641,885,787,817.102023287,653,630.897976713,655.897976713,0.406361553594,0.00445189947548,0.059939770004,0.999999993971,-7.87051811751e-05,-7.52038931259e-05,-1.43964111408e-05,1793250267763878656
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.471885791,719.471885791,685,667,641.471885791,885,787.471885791,817,653,630.528114209,656,0.406911236012,0.00445369595441,0.0599695755223,0.999999996081,-8.33584109667e-05,-2.33556624087e-05,-1.85262706845e-05,1793250267780544768
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.952810794,720,685,667,642,885,787.952810794,817.047189206,653,630.047189206,656,0.407469333057,0.00445668115526,0.0599977001567,0.999999995658,-8.67261001379e-05,2.52178549066e-05,-2.29374826322e-05,1793250267797211136
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.358266647,720,685,667,642,885,787.358266647,817.641733353,653,630.641733353,656,0.407997603525,0.00445051844339,0.0600001554368,0.999999994281,-0.000102547481624,1.71738172258e-05,-2.50541113988e-05,1793250267813878016
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.228743303,745,720,685.228743303,666.771256697,641.771256697,885.228743303,787.228743303,818,653.228743303,631,656,0.408538344152,0.00444777005231,0.0599955900998,0.999999993094,-0.000114080362214,-1.54942715374e-06,-2.82038807912e-05,1793250267830545152
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.804329147,745,720,685.804329147,666.195670853,641.195670853,885.804329147,787.804329147,818,653.804329147,631,656,0.409097993197,0.00445019878235,0.0599803794294,0.9999999917,-0.000119110605315,-3.64655087674e-05,-3.29201969747e-05,1793250267847212032
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.621053567,745.378946433,720,686,666.378946433,641,886,788,818,653.621053567,631,656,0.409710227072,0.00445083519627,0.0599760793499,0.999999989921,-0.000128230318134,-4.78880766904e-05,-3.77123919826e-05,1793250267863878656
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.046935145,745.953064855,720,686,666.953064855,641,886,788,818,653.046935145,631,656,0.410349544138,0.00445054849837,0.0599773986447,0.999999988257,-0.000139456265056,-4.72105802399e-05,-4.2543667369e-05,1793250267880545280
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.460568813,720,686,667,641.539431187,886,788,817.460568813,653,630.460568813,656,0.411044007688,0.00445067726322,0.0599858839419,0.999999987646,-0.0001480616732,-2.09736434004e-05,-4.84381093399e-05,1793250267897211904
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.125783117,720,686,667.125783117,642,886,788,817.125783117,653,630.125783117,656,0.411742475684,0.00445104957147,0.0599903494676,0.999999986647,-0.000154319674859,-4.4682484853e-06,-5.35770066025e-05,1793250267913878528
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.708124667,720,686,667.708124667,642,886,788,817.708124667,653,630.708124667,656,0.412437657719,0.00445217161705,0.0599779085888,0.999999986265,-0.000152904068669,-3.15453600667e-05,-5.56299138433e-05,1793250267930545664
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,720,686.287069396,667.425861208,642,886.287069396,787.712930604,818,653,631,655.712930604,0.413121370171,0.00445678568709,0.0599516974745,0.999999990942,-9.48652442281e-05,-8.50758061437e-05,-4.33530239757e-05,1793250267947212032
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,720,686.862600894,666.274798213,642,886.862600894,787.137399106,818,653,631,655.137399106,0.413793557478,0.00446490872315,0.0599116493177,0.999999986016,2.00715056755e-05,-0.000165187926277,-1.66768160862e-05,1793250267963878144
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,720,687.438323939,666,641.561676061,887.438323939,787,818,653.438323939,630.561676061,655.438323939,0.414589311104,0.00446651784642,0.0599219288988,0.999999989273,3.66156850361e-05,-0.000140985113053,-1.53917536722e-05,1793250267980544768
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,720,688,666.028902373,641,887.985548814,787.014451186,818,653.985548814,630,656,0.415424690388,0.00446598902985,0.0599485358312,0.999999996022,2.2202861963e-05,-8.35373190718e-05,-2.20101268457e-05,1793250267997210880
+157,2.616666667,POSE1_TO_POSE2_PRESS,769,746,720,688,667.208563162,641,887.395718419,787.604281581,818,653.395718419,630,656,0.416294911679,0.00446167118062,0.0599968215728,0.999999999636,3.77202028728e-06,-4.92233356064e-06,-2.62685283887e-05,1793250268013877504
+158,2.633333333,POSE1_TO_POSE2_PRESS,769,746,720,688,667.809516159,641.190483841,887,788,818,653.190483841,630,656,0.417152928546,0.00446004572584,0.0600264035895,0.99999999864,-5.08864511357e-06,4.24494202008e-05,-2.98742978349e-05,1793250268030544128
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,720,688,667.230710283,641.769289717,887,788,818,653.769289717,630,656,0.417986065316,0.00446390901036,0.0600178560249,0.999999999126,5.56053628024e-06,2.61284417595e-05,-3.21496057708e-05,1793250268047210496
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,720,688.345258457,667,641.654741543,887,788,818,654,630.345258457,656,0.418824665656,0.00446237012167,0.0600005532228,0.999999999399,8.5761612966e-06,-1.12129427479e-06,-3.35763773372e-05,1793250268063877888
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,720,688.919346781,667,641.080653219,887,788,818,654,630.919346781,656,0.419666887101,0.00445725078878,0.0599774476382,0.999999998751,6.53242915124e-06,-3.56143747744e-05,-3.44407571596e-05,1793250268080545280
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.494941866,746,720,689,667,641.505058134,887.505058134,788,818,653.494941866,630.494941866,656,0.420516328879,0.00446079707409,0.0599458395899,0.999999995765,1.61462061606e-05,-8.28530099954e-05,-3.66798785659e-05,1793250268097211392
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746.091241146,720,689.091241146,667,641.908758854,888,787.908758854,818.091241146,653,630,656,0.421367452322,0.00446494681808,0.0599136714477,0.999999989923,2.67836657929e-05,-0.000133917362618,-3.8770328468e-05,1793250268113877760
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746.669796245,720,689.669796245,667,641.330203755,888,787.330203755,818.669796245,653,630,656,0.422221253837,0.00446475459301,0.0598859344623,0.999999979836,3.27116531051e-05,-0.000194287889407,-3.8866594364e-05,1793250268130544896
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.248639449,746.751360551,720,690,667,641,888,787,819,653.248639449,630,656,0.423146274263,0.0044628322414,0.0598973439527,0.999999982719,3.33671454392e-05,-0.000178577438,-3.94930840389e-05,1793250268147211776
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.827865796,746.172134204,720,690,667,641,888,787,819,653.827865796,630,656,0.424165986294,0.00445860954213,0.0599608019456,0.999999996898,2.70124163257e-05,-6.17109842947e-05,-4.08245502546e-05,1793250268163878400
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,720,690.403163507,667.403163507,641,888.403163507,787.403163507,819,653.596836493,630,656,0.425142631639,0.00445796969401,0.0600093183157,0.999999998882,1.48512798851e-05,1.76432769437e-05,-4.12878416034e-05,1793250268180544768
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,690.976800005,667.976800005,641,888.976800005,787.976800005,819,653.023199995,630,656,0.426101066676,0.00445884481302,0.0600515167908,0.999999995852,2.34972172357e-07,8.11359375346e-05,-4.13840352512e-05,1793250268197211136
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720,690.436006332,667.436006332,641.563993668,888.436006332,787.436006332,819.563993668,653,630.563993668,656,0.427053626754,0.00445610615261,0.0600373314261,0.999999993373,-8.01983146276e-05,7.0398643802e-05,-4.32109802694e-05,1793250268213877760
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.850185253,746.149814747,720.149814747,690,667.149814747,641.850185253,888,787,820,653,630.850185253,656,0.427993258446,0.00445409605161,0.0600168360133,0.999999988059,-0.000139857253555,4.79019406719e-05,-4.50236132161e-05,1793250268230544384
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.269949347,746.730050653,720.730050653,690,667.730050653,641.269949347,888,787,820,653,630.269949347,656,0.428896457959,0.00445461672251,0.0599850393894,0.999999990221,-0.000131861029805,6.08931689073e-07,-4.65855456348e-05,1793250268247211008
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.30904529,746.69095471,720.69095471,690,667.381909421,641,888,787,819.69095471,653,630,656,0.429781622511,0.00445494088307,0.0599483064385,0.999999989439,-0.000122219970558,-6.28978503576e-05,-4.72122205265e-05,1793250268263877888
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.886959991,746.113040009,720.113040009,690,666.226080019,641,888,787,819.113040009,653,630,656,0.4306510966,0.00445509407962,0.0599072788846,0.999999982846,-0.000111147904398,-0.000140510612803,-4.7025221105e-05,1793250268280544768
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,720,690.470641605,666.470641605,641,888,787,819,653.470641605,630,656,0.431618856317,0.00445131958469,0.0599351080092,0.999999989124,-0.000111393153628,-8.37762180212e-05,-4.82211942327e-05,1793250268297211648
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,720,691,667.055182244,641,888,787,819,654,630.055182244,656,0.432609702718,0.00444711779205,0.0599783935388,0.999999992352,-0.000113276323825,1.29249769376e-06,-4.96222045978e-05,1793250268313878528
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,720,691,667.634561721,641,888,787,819,654,630.634561721,656,0.433592828483,0.00444792948094,0.0600094538555,0.999999992272,-0.00010457696094,4.51922889984e-05,-4.97764266358e-05,1793250268330544640
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,720,691,667.786479622,641,888,787,819.213520378,653.786479622,631,656,0.434544182589,0.00444653466491,0.0600191056272,0.999999992178,-9.96817906391e-05,5.6428794693e-05,-5.02268624842e-05,1793250268347211264
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,720,691,667.208239683,641,888,787,819.791760317,653.208239683,631,656,0.435441266879,0.00444137086215,0.0599921889268,0.99999999349,-0.000101284656688,1.18723229651e-05,-5.11832687327e-05,1793250268363877888
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.368190529,720,691,667,641.368190529,888.368190529,787,820,653,631,656,0.436312829272,0.00443803762212,0.0599641133617,0.999999992952,-0.000100218140933,-3.67820613398e-05,-5.19510783774e-05,1793250268380544256
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.943602176,720,691,667,641.943602176,888.943602176,787,820,653,631,656,0.437170027646,0.00443573464044,0.0599353855782,0.999999989999,-9.76492715824e-05,-8.77427869185e-05,-5.26127439383e-05,1793250268397210880
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746.470948328,720,691,666.470948328,642,888.470948328,787,820,653.529051672,631,656,0.437974055426,0.00443710549233,0.0599085549196,0.999999984559,-8.59544210442e-05,-0.0001444646584,-5.12248929584e-05,1793250268413877760
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.114718034,720,691.114718034,666.114718034,641.885281966,888.114718034,787,820,654,631,656,0.438801199614,0.00443758261391,0.0598941442227,0.999999980023,-7.66789021501e-05,-0.000177658751373,-5.01211989229e-05,1793250268430544384
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.696823982,720,691.696823982,666.696823982,641.303176018,888.696823982,787,820,654,631,656,0.439746065078,0.00443279199072,0.0599294954407,0.999999989068,-8.13005585071e-05,-0.000112444634298,-5.10825888861e-05,1793250268447211264
+184,3.066666667,POSE1_TO_POSE2_PRESS,769.274905755,746.725094245,720,692,667,641,889,787,820,654,631,656,0.440648006285,0.00442976236244,0.0599665691161,0.999999993774,-8.39727676832e-05,-5.19839846377e-05,-5.19386994437e-05,1793250268463878144
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.848613511,746.151386489,720,692,667,641,889,787,820,654,631,656,0.441503291974,0.0044286468043,0.0600055149717,0.999999995035,-8.45260733253e-05,3.30999688622e-06,-5.26803791603e-05,1793250268480544768
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.566869084,746,720,691.566869084,666.133738168,641,889,787,820,654,631,656,0.442263734506,0.00443052241765,0.0599843857823,0.999999995018,-7.89561770989e-05,-2.90757955906e-05,-5.37058546217e-05,1793250268497211136
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746,720,691.021173162,664.978826838,640.978826838,889.021173162,787,820.021173162,654,630.978826838,656,0.442989974394,0.00443333830051,0.0599416528114,0.999999991652,-7.11015527035e-05,-9.29697900895e-05,-5.47548805098e-05,1793250268513877760
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746,720,691.599995596,664.400004404,640.400004404,889.599995596,787,820.599995596,654,630.400004404,656,0.443710816317,0.00443267882182,0.0598970997634,0.999999984074,-6.0882161568e-05,-0.000158924818214,-5.37448430695e-05,1793250268530544384
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,746.177975769,720,692,664,640,889.822024231,787,821,654,630.177975769,656,0.444429704622,0.00443368995927,0.0598622636924,0.999999974862,-5.0622224156e-05,-0.000211832586782,-5.3297941185e-05,1793250268547211008
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,746.754071969,720,692,664,640,889.245928031,787,821,654,630.754071969,656,0.445144222947,0.00443843815821,0.0598491638698,0.999999969982,-4.02715858135e-05,-0.000235554482916,-5.41107378142e-05,1793250268563877888
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,746.669486379,720,692,664,640,889.330513621,787,821.330513621,654,631,656.330513621,0.445807044637,0.00444316683736,0.0598241823055,0.999999957887,-3.32516770274e-05,-0.000283079157903,-5.46548891971e-05,1793250268580544256
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.092787448,720,692,664,640,889.907212552,787,821.907212552,654,631,656.907212552,0.446431359694,0.00444788097679,0.0597903505463,0.999999937407,-2.87126852296e-05,-0.000348333491676,-5.49989381359e-05,1793250268597210624
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,746,720,692.493226411,663.506773589,639.506773589,889.506773589,787,821.506773589,654,631,656.506773589,0.447065691883,0.00447331608871,0.0597788184175,0.999999934531,-2.31261729495e-06,-0.000357259504697,-5.74301255745e-05,1793250268613877504
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,746,720,693,663,639,889,786.920154518,821,654,630.920154518,656,0.447702219576,0.00450216304037,0.0597750077211,0.999999935862,2.77950097e-05,-0.000351907538081,-6.05398167308e-05,1793250268630543872
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,746,720,693,663,639,889,786.34092114,821,654,630.34092114,656,0.448340465824,0.00452749940459,0.0597927472672,0.999999943607,5.48743316385e-05,-0.000324806893643,-6.5390153316e-05,1793250268647210752
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746,720,693,662.762808757,639,889.237191243,786.237191243,821.237191243,654,630.237191243,656,0.4489334428,0.00453988130446,0.0597893479749,0.999999940182,6.73335921338e-05,-0.000332253200517,-6.86352316793e-05,1793250268663877632
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746,720,693,662.186300079,639,889.813699921,786.813699921,821.813699921,654,630.813699921,656,0.449461659094,0.00453373100184,0.0597557082035,0.999999920138,5.88779054131e-05,-0.000389121160967,-6.95838837207e-05,1793250268680544256
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,746,720,693.389032612,661.610967388,639,889.610967388,786.610967388,821.610967388,654,631,656,0.449953183286,0.0045346562902,0.0597151748515,0.999999894484,5.60316682843e-05,-0.000450187897917,-7.22693503591e-05,1793250268697210880
+199,3.316666667,POSE1_TO_POSE2_PRESS,769,746,720,693.963803894,661.036196106,639,889.036196106,786.036196106,821.036196106,654,631,656,0.450427189348,0.00453895972887,0.0596713502441,0.99999986385,5.58635905913e-05,-0.000513259291246,-7.57840369383e-05,1793250268713877760
+200,3.333333333,POSE1_TO_POSE2_PRESS,769,746,720,693.448075336,661,638.448075336,889.551924664,786,821,654,631,656,0.450891154249,0.0045375580913,0.0596626702771,0.999999859776,5.31618805514e-05,-0.000521123949556,-7.77965528061e-05,1793250268730545664
+201,3.350000000,POSE1_TO_POSE2_PRESS,769,746,720,692.861153192,660.861153192,638,889.861153192,786,821,654,631.138846808,656,0.451353755744,0.00453622595574,0.0596617678019,0.999999861244,5.10438759687e-05,-0.00051826379221,-7.94332452294e-05,1793250268747213056
+202,3.366666667,POSE1_TO_POSE2_PRESS,769,746,720,692.280893757,660.280893757,638,889.280893757,786,821,654,631.719106243,656,0.451814168304,0.00453633372571,0.0596780819911,0.999999873892,5.13228858957e-05,-0.000493103509923,-8.01960995654e-05,1793250268763879168
+203,3.383333333,POSE1_TO_POSE2_PRESS,769,746.296848406,720.296848406,692.296848406,660,637.703151594,889,786,821.296848406,654,631.406303189,656,0.452251197661,0.0045374725788,0.0596900478604,0.99999988396,5.28957371517e-05,-0.00047192626896,-8.10347932647e-05,1793250268780545280
+204,3.400000000,POSE1_TO_POSE2_PRESS,769,746.872228586,720.872228586,692.872228586,660,637.127771414,889,786,821.872228586,654,630.255542827,656,0.452666286615,0.00453957889341,0.0596979337161,0.999999891813,5.56825949962e-05,-0.000454486302742,-8.19446467323e-05,1793250268797211648
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+207,3.450000000,POSE1_TO_POSE2_PRESS,769,746.614575199,720,693,659.614575199,637,890,786,822,654,631,656,0.453607082947,0.00454790879358,0.0596548328245,0.999999840072,0.000166549101562,-0.000538155715249,-5.00565104405e-05,1793250268847211264
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.797441256,746.797441256,720,693,659.594882512,636.797441256,889.797441256,786,822,654,631,656,0.453879811329,0.00455527017136,0.0596357093632,0.999999822846,0.000173084510279,-0.000567097650928,-5.24485635067e-05,1793250268863877888
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.220740694,746.220740694,720,693,658.441481388,636.220740694,889.220740694,786,822,654,631,656,0.454152988139,0.0045588194879,0.0596277774093,0.999999820946,0.000169083459527,-0.000571207414275,-5.6934490347e-05,1793250268880544768
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,746,720,690.606876328,665.606876328,640,888.606876328,787.606876328,819,653.606876328,630.606876328,656,0.431687418565,0.00463077581467,0.0597975069577,0.999999930713,0.000219203953505,-0.000299890057809,2.42852804587e-05,1793250270880566784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,746,720,690.031601962,665.031601962,640,888.031601962,787.031601962,819,653.031601962,630.031601962,656,0.430789297386,0.00462881304862,0.0598183599025,0.999999941829,0.000215797027128,-0.000262899709055,2.56545309764e-05,1793250270897233152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,746,720,690,666.11785979,640,887.441070105,787.558929895,818.441070105,653,630,656,0.429824103413,0.00462943889649,0.0598229865399,0.999999942995,0.00020720295133,-0.000265367575959,2.56270363651e-05,1793250270913900032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.852878693,746,720,689.852878693,666.558636078,640.147121307,887,787.852878693,818,653,630.147121307,655.852878693,0.428847198877,0.00462932696642,0.0598117296409,0.999999936929,0.000199717595832,-0.00029255909023,2.57790596755e-05,1793250270930566912
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.274155119,746,720,689.274155119,664.822465356,640.725844881,887,787.274155119,818,653,630.725844881,655.274155119,0.427847377215,0.00462660923463,0.0597566429933,0.999999906038,0.000196369368068,-0.000385552541464,2.66959036493e-05,1793250270947233536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.302836197,746,720,689,664.605672395,641,887.302836197,787.302836197,818,653,630.697163803,655.302836197,0.426899163415,0.00461845759056,0.0597400581231,0.999999899932,0.000184710107383,-0.000406608749645,2.6228120295e-05,1793250270963899904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.878268202,746,720,689,665.756536404,641,887.878268202,787.878268202,818,653,630.121731798,655.878268202,0.425997404113,0.00460541464988,0.0597581303517,0.999999920141,0.000165569731642,-0.000362911166633,2.45139747485e-05,1793250270980566272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,720,688.537692296,666.462307704,641,887.537692296,788,818.462307704,653,630,655.537692296,0.425100079426,0.00458203649085,0.0597876824566,0.999999936401,0.000134327637744,-0.00032919633289,2.8004378642e-05,1793250270997233152
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769,746,720,687.951658007,666.903316013,641,887,787.951658007,818.951658007,653,630,655,0.424201499107,0.00455858703251,0.05981890943,0.99999994972,0.000103254049908,-0.000298073473715,3.24172857317e-05,1793250271013899776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,720,687.369101652,665.738203304,641,887,787.369101652,818.369101652,653,630,655,0.423275895219,0.00456499370554,0.0598346069571,0.999999958083,0.000109924315521,-0.00026599491464,3.15929861298e-05,1793250271030566400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.790890803,746,720,687.209109197,665.418218394,641,887,787,818,653,630,655.209109197,0.422357832777,0.00456968406922,0.0598424589457,0.999999958442,0.000139722495843,-0.000250206623074,3.14658003721e-05,1793250271047233024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.220194023,746,720,687.779805977,666.559611954,641,887,787,818,653,630,655.779805977,0.421452810707,0.00457140662497,0.0598367445835,0.999999943047,0.000209513020266,-0.000262587141623,3.25440502103e-05,1793250271063899904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.355815574,746,720,687.644184426,665.932553277,641,887,787,818,653.355815574,630,655.644184426,0.420502700447,0.00457107304532,0.0597898486519,0.999999907681,0.000254162546657,-0.000344937052,3.25163149511e-05,1793250271080566528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.935162773,746,720,687.064837227,664.194511682,641,887,787,818,653.935162773,630,655.064837227,0.419524264791,0.00456944775347,0.0597170815005,0.99999984841,0.000283017905939,-0.000471243357985,3.17937736814e-05,1793250271097233408
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,720,687,665.047690144,641,886.476154928,787.523845072,818,653.476154928,630,655.523845072,0.418688357279,0.00457073334643,0.0597151736225,0.999999859081,0.000277907836688,-0.000451366436839,2.95418627482e-05,1793250271113900032
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,687,666.111419541,641,886,787.888580459,818,653,630,655.888580459,0.417871610678,0.0045717110244,0.0597308715531,0.999999880634,0.00026877041568,-0.000407067046411,2.81360166729e-05,1793250271130566912
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746,720,687,666.689428426,641,886,787.310571574,818,653,630,655.310571574,0.417059888814,0.00456986311887,0.0597829030685,0.999999908537,0.000260691993258,-0.000337638085543,3.10802991665e-05,1793250271147233536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,745.733288099,720,686.733288099,666.199864297,641,886,787,818.266711901,653,630,655.266711901,0.416258290568,0.00456838001003,0.0598200175618,0.999999925083,0.000251020351075,-0.00029277339057,3.32545819249e-05,1793250271163900160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,745.156847075,720,686.156847075,664.470541224,641,886,787,818.843152925,653,630,655.843152925,0.415468448807,0.00456732053504,0.0598398091044,0.999999932516,0.000239498524761,-0.000276434869887,3.45346737525e-05,1793250271180566528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,745.418225777,720,686.418225777,664.836451553,641,885.581774223,787,818.581774223,653,630.418225777,655.581774223,0.414700940524,0.00456657754709,0.059845397422,0.999999938117,0.000228447033671,-0.000265328104582,3.43487950425e-05,1793250271197233408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,745.992787243,720,686.992787243,665.985574486,641,885.007212757,787,818.007212757,653,630.992787243,655.007212757,0.413941780584,0.00456595286409,0.0598456764773,0.999999942953,0.000217571356175,-0.000256177004279,3.36149265027e-05,1793250271213900032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,745.416647319,720,686.416647319,666,641,885,787,818,653,631,655,0.413169940772,0.00456436405642,0.0598249191391,0.999999932933,0.000212035010562,-0.00029659777714,3.46997157877e-05,1793250271230566400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745,720,686,665.658973574,640.829486787,885,787,818,653,631,655,0.412395030368,0.00456269778277,0.0597951406734,0.999999917817,0.000203955302376,-0.000348643150443,3.48645159974e-05,1793250271247233024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745,720,686,664.501920852,640.250960426,885,787,818,653,631,655,0.411613158059,0.0045608754733,0.0597444159055,0.999999890321,0.000189627273261,-0.000426996493595,3.27725926711e-05,1793250271263899904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.674782354,745.325217646,720,686,664.325217646,640.325217646,885,787,818,653,630.674782354,655,0.410925967505,0.00455913460042,0.0597392580784,0.999999891457,0.00017857024769,-0.000429165477809,3.18658273329e-05,1793250271280566784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.100403428,745.899596572,720,686,664.899596572,640.899596572,885,787,818,653,630.100403428,655,0.410311316195,0.00455745611924,0.0597690107749,0.999999915487,0.000170019260098,-0.00037296679953,3.18670555694e-05,1793250271297233408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.474325202,745.525674798,720,686,665.474325202,641,885,787,817.525674798,653,630,655,0.409721472061,0.0045555195503,0.0598096543986,0.999999937415,0.000164395045509,-0.00031151626246,3.31909145432e-05,1793250271313900032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745,720,685.949121579,665.898243157,641,885,787,817.050878421,653,630.050878421,655.050878421,0.409136751626,0.00455328993553,0.0598493281477,0.999999954556,0.000158677766719,-0.000253984978906,3.46491697047e-05,1793250271330566656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745,720,685.353837628,664.707675256,641,885,787,817.646162372,653,630.646162372,655.646162372,0.408550626556,0.00454850968402,0.0598539383661,0.999999957519,0.000145330768686,-0.000250294253637,3.45475614105e-05,1793250271347233536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.232956776,720,685.232956776,664,641,885,787,818,653,630.767043224,656,0.407970503373,0.00454608539702,0.059849344173,0.999999957143,0.000135624396967,-0.000257216274434,3.40599063843e-05,1793250271363900160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.807309767,720,685.807309767,664,641,885,787,818,653,630.192690233,656,0.407399175957,0.00454711375681,0.0598312609912,0.999999951728,0.000131253333951,-0.000279691186499,3.30065030906e-05,1793250271380566784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745.616130747,720,685.616130747,664.767738505,641,885.383869253,787,818,653,630.383869253,656,0.406876173724,0.00454636064915,0.0598218428866,0.999999949723,0.00012652210484,-0.000288958988568,3.23996611454e-05,1793250271397233408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745.038457217,720,685.038457217,665.923085567,641,885.961542783,787,818,653,630.961542783,656,0.406377569401,0.00454470813115,0.0598167995225,0.99999994959,0.0001216090381,-0.000291558911905,3.20182747807e-05,1793250271413900288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,666,641,885.450448781,787,818,653,631,656,0.405939308406,0.00454156756574,0.059826342567,0.999999954745,0.000116671892246,-0.000275357642491,3.27892710054e-05,1793250271430566912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,745,719.863995745,684.863995745,665.863995745,640.863995745,885,787,817.863995745,653.136004255,630.863995745,656,0.405504994268,0.00453878657842,0.059831613196,0.999999957644,0.00011355241215,-0.00026588507689,3.35125354801e-05,1793250271447233536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,719.285009473,684.285009473,665.285009473,640.285009473,885,787,817.285009473,653.714990527,630.285009473,656,0.40506951767,0.00453752245162,0.0598195796458,0.9999999527,0.000116358877788,-0.000282696204018,3.38126342233e-05,1793250271463900416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.707730289,745,719.292269711,684,664.707730289,640.292269711,884.707730289,787.292269711,817,654,630,656,0.404640775635,0.00453661780835,0.0597991519927,0.999999937416,0.000154354505428,-0.000316525966168,3.3956594457e-05,1793250271480567040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.132106158,745,719.867893842,684,664.132106158,640.867893842,884.132106158,787.867893842,817,654,630,656,0.404218562761,0.00453606168314,0.0597705862881,0.999999906489,0.000226465896606,-0.000366855230308,3.39491787654e-05,1793250271497233408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.442646171,745,720,684.442646171,664,640.557353829,884.442646171,787.557353829,817.442646171,653.557353829,630.442646171,656,0.40387325342,0.00453594181131,0.0597623610456,0.999999899791,0.000241393519352,-0.000375471112872,3.41856036641e-05,1793250271513900288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768.982379064,745,720,685,664.035241871,640.017620936,884.982379064,787,818,653,630.982379064,656,0.403552989783,0.00453586653673,0.059760958542,0.999999902123,0.000239207648256,-0.000370594365041,3.45349372158e-05,1793250271530566912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.391725812,745,720,685,665.216548375,640.608274188,884.391725812,787,818,653,630.391725812,656,0.403302293925,0.00453301584278,0.0597844056466,0.999999917097,0.000234395769569,-0.000330989763654,3.61941202362e-05,1793250271547233536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745,720,684.814496792,665.628993585,641,884,787,818,653,630,655.814496792,0.403058739547,0.00453098414878,0.0598061794675,0.999999929111,0.000230996825499,-0.000294956377721,3.76617791375e-05,1793250271563900160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,720,684.263702694,664.527405388,641,884,787,818,653,630,655.263702694,0.402829248128,0.00453056522086,0.0598246582741,0.999999937345,0.000230380217906,-0.000265955395635,3.87522907125e-05,1793250271580566784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.316737598,745,720,683.683262402,664.316737598,641,884,787,818,653.316737598,630.316737598,655.316737598,0.402602679439,0.00452908879763,0.0598360934463,0.999999942117,0.000227558219734,-0.000249771354442,3.99767871794e-05,1793250271597233408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.924408943,745,720,683.075591057,664.924408943,641,884,787,818,653.924408943,630.924408943,655.924408943,0.402378795347,0.00452664103067,0.0598410588141,0.999999944245,0.000222710498909,-0.000245360085543,4.13243532574e-05,1793250271613900032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,719.498120508,683.501879492,665,641,884.501879492,787,818,654,630.498120508,656,0.402178357295,0.0045240439016,0.0598346367348,0.999999941949,0.000216502292895,-0.000259755306807,4.19090724423e-05,1793250271630566912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745.077803527,719.077803527,684.077803527,665,641,884.922196473,787,817.922196473,653.922196473,630,655.922196473,0.40198678188,0.00452198206603,0.0598273446786,0.999999938946,0.000210552832131,-0.000275661853811,4.22535938766e-05,1793250271647233792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745.671938114,719.671938114,684.671938114,665,641,884.328061886,787,817.328061886,653.328061886,630,655.328061886,0.40183191683,0.00452361344109,0.0598250153014,0.99999993729,0.000207603164868,-0.000283867221706,4.17232968439e-05,1793250271663900416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745.742802659,719.742802659,684.742802659,665,641,884.257197341,787,817.257197341,653.257197341,630,655.257197341,0.401691954828,0.00452189614272,0.0598247394013,0.999999943259,0.000171977308494,-0.000287695464559,3.37359400099e-05,1793250271680567296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745.168486594,719.168486594,684.168486594,665,641,884.831513406,787,817.831513406,653.831513406,630,655.831513406,0.401570367972,0.00451605000278,0.059826995394,0.999999954315,9.60624212948e-05,-0.000286126805741,1.65541905664e-05,1793250271697233664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,719.406798448,684,665.406798448,641,884.593201552,787,818,653.593201552,630.406798448,656,0.401467817983,0.00451173818882,0.0598296992678,0.999999957852,7.24747726126e-05,-0.000280863602207,1.26407521959e-05,1793250271713900288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,719.982485762,684,665.982485762,641,884.017514238,787,818,653.017514238,630.982485762,656,0.401373171458,0.00450806337492,0.0598325890866,0.999999959849,7.0611613816e-05,-0.000274066549981,1.42358652913e-05,1793250271730566912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745.573120833,720,684,665.426879167,641,884.573120833,787,818,653.573120833,630.426879167,656,0.401297470437,0.00450903349815,0.0598328140591,0.999999959047,7.650014277e-05,-0.000275345696317,1.54379343038e-05,1793250271747233280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745.839817821,720,684,665.160182179,641,885,787,817.839817821,653.839817821,630,656,0.401226745739,0.0045092255038,0.0598321157529,0.999999958194,8.02174989313e-05,-0.000277318886198,1.64779139111e-05,1793250271763900160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745.263265128,720,684,665.736734872,641,885,787,817.263265128,653.263265128,630,656,0.401167411048,0.00450701605399,0.0598292348674,0.999999957515,7.76589594238e-05,-0.000280437430812,1.71286227352e-05,1793250271780566784
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dac8aeabf7cb0afb8634c5b2ab2b5ebe5e06afcf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0991ba7bb608d1b720bf51f5f4c94c1734861061
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25785976
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48b20d2702be51e9be34ad361fd51480f0736ec9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+56,0.933333333,BASELINE,770,745.497139499,719.497139499,683,669,641,884,788,817,654,630,656,0.400943040665,0.00455784739005,0.0499305224838,0.999999975449,7.90466438447e-05,-0.000205591803865,-2.42112276319e-05,1793250274473751296
+57,0.950000000,BASELINE,769.924616177,745.924616177,719.924616177,683,669,641,884.075383823,787.924616177,817,654,630.075383823,656,0.400941622328,0.00455771759007,0.0499299480865,0.999999975148,7.80198862028e-05,-0.000207439603487,-2.41820399383e-05,1793250274490417664
+58,0.966666667,BASELINE,769.351581663,745.351581663,719.351581663,683,669,641,884.648418337,787.351581663,817,654,630.648418337,656,0.40094262195,0.00455683675059,0.0499305843337,0.999999975518,7.68889324983e-05,-0.000206088450642,-2.40630687823e-05,1793250274507084288
+59,0.983333333,BASELINE,769,745.222693903,719.222693903,683,669,641,885,787,817,654,630.777306097,655.777306097,0.400943392476,0.00455632046231,0.0499309519109,0.999999975834,7.58562719912e-05,-0.000204933082933,-2.40718378815e-05,1793250274523750912
+60,1.000000000,BASELINE,769,745.798939869,719.798939869,683,669,641,885,787,817,654,630.201060131,655.201060131,0.400943799286,0.00455638294064,0.0499308929438,0.999999976068,7.49796630114e-05,-0.000204088546329,-2.42834092408e-05,1793250274540417536
+61,1.016666667,BASELINE,769.384866924,745.615133076,720,683,669,640.615133076,884.615133076,787.384866924,817,654,630,655.384866924,0.400943283148,0.00455606246701,0.0499305944263,0.999999975967,7.4036337866e-05,-0.000204939609708,-2.41796136873e-05,1793250274557084160
+62,1.033333333,BASELINE,769.975981989,745.024018011,720,683,669,640.024018011,884.024018011,787.975981989,817,654,630,655.975981989,0.400942272406,0.00455553677144,0.049930167535,0.999999975683,7.30572599341e-05,-0.000206699336162,-2.39068146671e-05,1793250274573750784
+63,1.050000000,BASELINE,769.443268472,745,719.443268472,683.556731528,669,640.556731528,884,788,817,654,630,655.443268472,0.400941685436,0.00455640298291,0.0499297765301,0.999999975261,7.64948522933e-05,-0.000207486218558,-2.40051329882e-05,1793250274590417664
+64,1.066666667,BASELINE,769,745.136001448,719,683.863998552,669,641,884.136001448,787.863998552,817,654,630,655.136001448,0.400941279013,0.0045575772411,0.0499294874234,0.999999974918,7.9541462392e-05,-0.000207972442754,-2.41963138664e-05,1793250274607084544
+65,1.083333333,BASELINE,769,745.711905436,719,683.288094564,669,641,884.711905436,787.288094564,817,654,630,655.711905436,0.400941398522,0.00455955721066,0.0499295229943,0.999999974886,8.07183785114e-05,-0.000207619446074,-2.46370228785e-05,1793250274623751168
+66,1.100000000,BASELINE,769,746,719,683,669,641,884.714789828,787.285210172,817,654,630,656,0.400941244018,0.00455987918439,0.0499291844883,0.999999974847,8.05259787447e-05,-0.000207870579546,-2.47244210366e-05,1793250274640417536
+67,1.116666667,BASELINE,769,746,719,683,669,641,884.14408695,787.85591305,817,654,630,656,0.40094081523,0.00455854151974,0.0499284715349,0.9999999748,7.89629065624e-05,-0.000208726441645,-2.44581583208e-05,1793250274657084160
+68,1.133333333,BASELINE,769,745.554218725,719,683,669,641,884,787.554218725,817,654,630,656,0.400941754088,0.00455810971668,0.0499294648948,0.999999975097,7.85870653952e-05,-0.00020747162953,-2.41914102787e-05,1793250274673750784
+69,1.150000000,BASELINE,769.04086756,745,719.04086756,683,669,641,884,787,817,654,630.04086756,655.95913244,0.400943138334,0.0045578997399,0.0499309418661,0.999999975505,7.84315716535e-05,-0.000205586557097,-2.39472476793e-05,1793250274690417152
+70,1.166666667,BASELINE,769.61944186,745,719.61944186,683,669,641,884,787,817,654,630.61944186,655.38055814,0.400944305132,0.00455658293176,0.0499311993427,0.999999975862,7.58994396581e-05,-0.00020478837365,-2.40024054936e-05,1793250274707083776
+71,1.183333333,BASELINE,770,745,720,683,669,641,884,787,817,654,631,655.196116972,0.400944530705,0.00455556700031,0.0499312276181,0.999999976021,7.42677828058e-05,-0.000204613048924,-2.39781008504e-05,1793250274723750656
+72,1.200000000,BASELINE,770,745,720,683,669,641,884,787,817,654,631,655.769142226,0.400942947384,0.00455512930985,0.0499308154021,0.999999975809,7.4366707697e-05,-0.000205634767886,-2.38010809377e-05,1793250274740417536
+73,1.216666667,BASELINE,769.648234005,745,719.648234005,683,669,641,884.351765995,787,817,654,631,656,0.400942655198,0.00455563459243,0.0499308090723,0.999999975733,7.49657652221e-05,-0.00020577614964,-2.38799474697e-05,1793250274757084672
+74,1.233333333,BASELINE,769.059134227,745,719.059134227,683,669,641,884.940865773,787,817,654,631,656,0.400943234132,0.0045567760916,0.0499310765908,0.999999975749,7.59022583419e-05,-0.000205323574659,-2.41314586076e-05,1793250274773751552
+75,1.250000000,BASELINE,769.520553662,745,719.520553662,683,669,641,884.479446338,787.520553662,817,654.520553662,631,656,0.400942721955,0.00455789165689,0.0499307585488,0.99999997548,7.79366226373e-05,-0.000205847734517,-2.43505359989e-05,1793250274790418176
+76,1.266666667,BASELINE,769.900997089,745.099002911,719.900997089,683,669,641,884,788,817.099002911,655,631,656,0.400942058036,0.00455872328991,0.0499302650303,0.999999975185,7.96359818567e-05,-0.000206612312436,-2.44711849346e-05,1793250274807084544
+77,1.283333333,BASELINE,769.323458732,745.676541268,719.323458732,683,669,641,884,788,817.676541268,655,631,656,0.400941249138,0.00455819650924,0.0499292391502,0.999999974944,7.91239587417e-05,-0.000208012177027,-2.41335676862e-05,1793250274823750912
+78,1.300000000,BASELINE,769.252720449,745.747279551,719,683,669,641,884.252720449,788,817.747279551,654.747279551,630.747279551,656,0.400941733337,0.00455745725535,0.0499295265339,0.999999975192,7.753050068e-05,-0.000207443006235,-2.39414755269e-05,1793250274840417536
+79,1.316666667,BASELINE,769.827169274,745.172830726,719,683,669,641,884.827169274,788,817.172830726,654.172830726,630.172830726,656,0.400943863725,0.00455644751027,0.049931485782,0.999999976051,7.45603107357e-05,-0.000204367134515,-2.39346456099e-05,1793250274857084160
+80,1.333333333,BASELINE,769.588629981,745.411370019,719.411370019,683,668.588629981,641,885,787.588629981,817,654,630,656,0.400943636812,0.00455656216175,0.0499309596458,0.999999975892,7.4959030343e-05,-0.000204968999675,-2.41873662855e-05,1793250274873750784
+81,1.350000000,BASELINE,769.000232582,745.999767418,719.999767418,683,668.000232582,641,885,787.000232582,817,654,630,656,0.400942395466,0.0045571606816,0.0499293639591,0.999999975293,7.6807513174e-05,-0.000207153527604,-2.45517809564e-05,1793250274890417408
+82,1.366666667,BASELINE,769,746,720,683,668.579967011,641,884.420032989,787.579967011,817,654,630.579967011,656,0.400943084978,0.00455648746421,0.0499293303755,0.999999975367,7.65051232436e-05,-0.000206967160362,-2.40276091601e-05,1793250274907084288
+83,1.383333333,BASELINE,769,746,720,683,669,641,884.158647396,788,817,654,630.841352604,656,0.400943343394,0.00455611048511,0.0499293367736,0.999999975394,7.6374991834e-05,-0.000206926022836,-2.36784895084e-05,1793250274923751424
+84,1.400000000,BASELINE,769,746,720,683,669,641,884.733352243,788,817,654,630.266647757,656,0.400942469247,0.0045565117183,0.0499294464047,0.999999975296,7.66988439311e-05,-0.000207268213189,-2.37893706298e-05,1793250274940417792
+85,1.416666667,BASELINE,769,745.683981733,719.683981733,683,668.683981733,641,884.683981733,788,817,654,630.316018267,656,0.400942298487,0.00455667507515,0.0499295338458,0.999999975347,7.713908696e-05,-0.000206854602468,-2.38177296012e-05,1793250274957084416
+86,1.433333333,BASELINE,769,745.094424717,719.094424717,683,668.094424717,641,884.094424717,788,817,654,630.905575283,656,0.400942736564,0.00455663253122,0.0499296020799,0.999999975526,7.76800755059e-05,-0.000205786786255,-2.37746591328e-05,1793250274973751296
+87,1.450000000,BASELINE,769,745.48639178,719.48639178,683,668.48639178,641,884,788,817,654,630.51360822,656,0.400943322075,0.00455587793723,0.0499304502853,0.999999975798,7.54953688546e-05,-0.000205269248972,-2.38586504724e-05,1793250274990417920
+88,1.466666667,BASELINE,769,745.934803599,719.934803599,683,669,641,884,787.934803599,817,654,630.065196401,656,0.400943832874,0.00455509735975,0.0499312362763,0.999999976018,7.33338784355e-05,-0.000204974651594,-2.39105181414e-05,1793250275007084288
+89,1.483333333,BASELINE,769,745.358702554,719.358702554,683,669,641,884,787.358702554,817,654,630.641297446,656,0.400943537866,0.0045551772868,0.0499303691037,0.999999975742,7.54277278002e-05,-0.000205604736023,-2.35207648984e-05,1793250275023750912
+90,1.500000000,BASELINE,769,745,719,683,669,641,884,787.216874646,817,654,630.783125354,656,0.400943604531,0.0045557853227,0.0499299314813,0.99999997558,7.70776392388e-05,-0.000205784034219,-2.35113733158e-05,1793250275040417792
+91,1.516666667,BASELINE,769,745,719,683,669,641,884,787.79158746,817,654,630.20841254,656,0.400944267948,0.00455726472601,0.0499302026068,0.99999997561,7.79950631235e-05,-0.000205219545462,-2.41295697455e-05,1793250275057084160
+92,1.533333333,BASELINE,769.376143609,745.376143609,719.376143609,683,669,641,884,788,817,654,630,656,0.400944492316,0.0045571417319,0.0499302871898,0.999999975776,7.73999951854e-05,-0.000204616841559,-2.42749730641e-05,1793250275073750784
+93,1.550000000,BASELINE,769.96630034,745.96630034,719.96630034,683,669,641,884,788,817,654,630,656,0.40094446688,0.00455610702742,0.0499302656364,0.999999976018,7.59443701144e-05,-0.000203992394463,-2.41513729865e-05,1793250275090417408
+94,1.566666667,BASELINE,769.453932527,745.453932527,719.453932527,683.546067473,669,641,884,788,817,654,630.546067473,656,0.400943984242,0.00455638150015,0.0499303381765,0.999999975927,7.46180883677e-05,-0.000204941762983,-2.40265398788e-05,1793250275107083776
+95,1.583333333,BASELINE,769,745,719.124417705,683.875582295,669,641,884,788,817,654,631,656,0.40094346767,0.00455643689964,0.0499303648625,0.999999975833,7.34552865287e-05,-0.000205833204098,-2.38813919445e-05,1793250275123750656
+96,1.600000000,BASELINE,769,745,719.699912298,683.300087702,669,641,884,788,817,654,631,656,0.400942928461,0.0045554105994,0.0499302046446,0.999999975813,7.2856782178e-05,-0.000206169075325,-2.36628632199e-05,1793250275140417280
+97,1.616666667,BASELINE,769,745,720,683,669,641,884,788,817,654.280431765,631,656,0.400942283297,0.00455544316296,0.0499297841364,0.999999975659,7.30739496842e-05,-0.000206827596555,-2.37713200122e-05,1793250275157083904
+98,1.633333333,BASELINE,769,745,720,683,669,641,884,788,817,654.866426378,631,656,0.400941522684,0.00455662948119,0.0499290800117,0.999999975357,7.41798860711e-05,-0.000207837682266,-2.42360653639e-05,1793250275173750528
+99,1.650000000,BASELINE,769,745.447108716,719.552891284,683,669,641,884,788,816.552891284,654.552891284,631,656,0.400941632569,0.00455681137483,0.0499292630695,0.999999975241,7.53703944437e-05,-0.000207949701072,-2.43565432754e-05,1793250275190416896
+100,1.666666667,BASELINE,769,745.973716449,719.026283551,683,669,641,884,788,816.026283551,654,631,656,0.400941967585,0.00455668438794,0.0499296530288,0.999999975177,7.65493558746e-05,-0.000207828552709,-2.43546764604e-05,1793250275207083776
+101,1.683333333,BASELINE,769,745.393257303,719.606742697,683,669,641,884,788,816.606742697,654,631,656,0.400941630486,0.00455629738006,0.049928882669,0.999999975041,7.69583931872e-05,-0.000208381682222,-2.39163064294e-05,1793250275223750400
+102,1.700000000,BASELINE,769.185158894,745.185158894,720,683.185158894,669,641,884,788,817,654,630.814841106,656,0.400941353239,0.00455628606764,0.049928444414,0.999999974969,7.70529255105e-05,-0.000208711609891,-2.37584048719e-05,1793250275240417280
+103,1.716666667,BASELINE,769.759283369,745.759283369,720,683.759283369,669,641,884,788,817,654,630.240716631,656,0.400941201723,0.00455706398338,0.0499287038157,0.999999975031,7.64867732587e-05,-0.000208572654621,-2.41896869627e-05,1793250275257083904
+104,1.733333333,BASELINE,769.659552815,745.659552815,719.659552815,683.659552815,669,641,884.340447185,788,817,654,630,656,0.400940831877,0.00455657052395,0.049928485197,0.999999975074,7.48780957022e-05,-0.00020894228283,-2.42560527821e-05,1793250275273750528
+105,1.750000000,BASELINE,769.073306615,745.073306615,719.073306615,683.073306615,669,641,884.926693385,788,817,654,630,656,0.400940304399,0.00455515914613,0.0499279214531,0.999999975099,7.25167266116e-05,-0.00020967910254,-2.40589532265e-05,1793250275290417152
+106,1.766666667,BASELINE,769,745,719,683,669,641,885,788,817,654.508526182,630.508526182,656,0.400941584733,0.00455456950469,0.0499287605122,0.999999975328,7.45077360974e-05,-0.000207889899284,-2.3951098714e-05,1793250275307084032
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,683,669,641,885,788,817,654,631,656,0.400939286745,0.00455649171122,0.0499274520616,0.999999974745,7.55290891342e-05,-0.0002102963892,-2.4093837817e-05,1793250275350199808
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.574404814,745,719.425595186,683,669,641,884.425595186,788,817,654,630.425595186,656,0.400940140723,0.00455635166597,0.049928143619,0.999999974923,7.56356874806e-05,-0.000209433594461,-2.39013869328e-05,1793250275366866176
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.152694027,719.152694027,683,669,641,884,788,817,654.152694027,630.152694027,656,0.400940732332,0.00455656614255,0.0499285087899,0.999999975053,7.59362454458e-05,-0.000208705541597,-2.38823203782e-05,1793250275383532288
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745.742092751,719.742092751,683,669,641,884,788,817,654.742092751,630.742092751,656,0.400940573566,0.00455779455101,0.0499279404959,0.999999975047,7.67915276644e-05,-0.000208362850098,-2.43591327105e-05,1793250275400198656
+111,1.850000000,POSE1_TO_POSE2_PRESS,769.672930762,746,720,683,669,641,884,787.672930762,817,654.672930762,631,656,0.400942490702,0.00455820490324,0.049928850551,0.999999975352,7.76802208434e-05,-0.000206560069677,-2.4405428518e-05,1793250275416865280
+112,1.866666667,POSE1_TO_POSE2_PRESS,769.091394901,746,720,683,669,641,884,787.091394901,817,654.091394901,631,656,0.400946022934,0.00455797879076,0.0499309107922,0.99999997589,7.85949083881e-05,-0.000203621309935,-2.41167735479e-05,1793250275433532160
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,746,720,683,669,641,884.483974053,787.483974053,817,654,630.516025947,656,0.400952199193,0.00455746427705,0.0499329536763,0.999999976955,7.78005831571e-05,-0.000198632666446,-2.41077403745e-05,1793250275450199040
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.058303427,745.941696573,720,683,669,641,885,787.941696573,817,654,630.058303427,656,0.400960173379,0.00455676693438,0.0499352908633,0.999999978249,7.65975345978e-05,-0.000192490790199,-2.41198648934e-05,1793250275466865664
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.633611293,745.366388707,720,683,669,641,885,787.366388707,817,654,630.633611293,656,0.400979718779,0.00455492522772,0.0499402664755,0.999999980821,7.45959731362e-05,-0.000179512105108,-2.38572534184e-05,1793250275483532544
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.784976895,745,719.784976895,683.215023105,669,641,885,787.215023105,817,654,630.784976895,655.784976895,0.401004398776,0.00455425947835,0.0499457643491,0.999999983613,7.43172492764e-05,-0.000163330509711,-2.39426604098e-05,1793250275500199424
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.192860447,745,719.192860447,683.807139553,669,641,885,787.807139553,817,654,630.192860447,655.192860447,0.401038083487,0.00455565604553,0.0499521781296,0.999999986712,7.70599246092e-05,-0.000141531862764,-2.46383992663e-05,1793250275516866304
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.389269278,745.389269278,719,683.610730722,669,641,885,788,817,654,630,655,0.401079763755,0.00455628460775,0.0499571276178,0.999999989547,7.69036543543e-05,-0.000119719967534,-2.56710804002e-05,1793250275533532416
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.966574971,745.966574971,719,683.033425029,669,641,885,788,817,654,630,655,0.401125306278,0.00455654218551,0.0499613697807,0.999999992008,7.53470494677e-05,-9.79016707567e-05,-2.68665214629e-05,1793250275550198528
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.461438143,746,719,683,669,641,885,788,817,654,630,655.538561857,0.401181881387,0.00455558134594,0.0499655661965,0.999999993576,7.20515979468e-05,-8.33053285555e-05,-2.67722570878e-05,1793250275566864896
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,719,683,669,641,885,788,817,654,630,656,0.401241068854,0.00455470327335,0.0499690415044,0.999999994611,6.956664203e-05,-7.23624663951e-05,-2.6495441979e-05,1793250275583531776
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,746,719,683,669,641,885,788,817,654,630,656,0.401308354329,0.0045544851805,0.0499695097011,0.999999994351,7.09221630592e-05,-7.48566120167e-05,-2.57862089007e-05,1793250275600198400
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745.706939081,719,683,669,641,884.706939081,788,817,654,630.293060919,656,0.401387907956,0.0045540865297,0.0499697877695,0.999999994319,7.09139935361e-05,-7.54549226811e-05,-2.52881026133e-05,1793250275616865024
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745.124874767,719,683,669,641,884.124874767,788,817,654,630.875125233,656,0.401479559873,0.00455350982085,0.0499698783418,0.999999994517,6.95610141196e-05,-7.41836466915e-05,-2.49982000401e-05,1793250275633531904
+125,2.083333333,POSE1_TO_POSE2_PRESS,769.451406947,745.451406947,719,683,669,641,884,787.548593053,816.548593053,654,630.548593053,656,0.401594109558,0.00455300573209,0.0499707172102,0.999999994945,6.60458853099e-05,-7.18227422454e-05,-2.42937455612e-05,1793250275650198528
+126,2.100000000,POSE1_TO_POSE2_PRESS,769.973916221,745.973916221,719,683,669,641,884.026083779,787.026083779,816.026083779,654,630.026083779,656,0.401716001327,0.00455244106507,0.0499718204196,0.999999995409,6.20212232384e-05,-6.91660973805e-05,-2.34659038384e-05,1793250275666865152
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.399773942,745.399773942,719,683,669,641,884.600226058,787.600226058,816.600226058,654,630.600226058,656,0.40186075123,0.00455018679429,0.0499741833661,0.999999995752,5.96990528421e-05,-6.65488685921e-05,-2.24246203231e-05,1793250275683531776
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,719.180000223,683,669,641,885,788,817,654,630.819999777,656,0.402013573588,0.00454848566331,0.0499754602158,0.999999995988,5.76681779211e-05,-6.51475945389e-05,-2.12952550471e-05,1793250275700198656
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,719.77268652,683,669,641,885,788,817,654,630.22731348,656,0.402184903626,0.00454805271489,0.049974246974,0.999999996002,5.63051557461e-05,-6.65341373027e-05,-1.99639450764e-05,1793250275716865280
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,719.644510702,683,669,641,885,788,817,654,630,656,0.402375802434,0.00454654794345,0.049970551946,0.999999995707,5.37375618987e-05,-7.31110916667e-05,-1.8799217452e-05,1793250275733531904
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,719.067856811,683,669,641,885,788,817,654,630,656,0.402578875799,0.00454437634653,0.0499653128962,0.999999995134,5.04205540639e-05,-8.29172158558e-05,-1.77381274627e-05,1793250275750198784
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.507785615,719,683,669,641,885,788,817,654,630.507785615,656,0.402830977378,0.00454125846583,0.0499682249799,0.999999995876,4.50190351009e-05,-7.73301484659e-05,-1.55315580251e-05,1793250275766865664
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,719,683,669,641.085103542,885,788,817.085103542,654,631,656,0.403094852666,0.00453812886026,0.0499730359194,0.999999996802,3.97167841005e-05,-6.81435764187e-05,-1.3231449766e-05,1793250275783532800
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,719,683,669,641.673120113,885,788,817.673120113,654,631,656,0.403389663652,0.00453567575424,0.0499826439094,0.999999998024,3.66439988441e-05,-4.98177279175e-05,-1.12813587236e-05,1793250275800199424
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.257213489,746,719.257213489,683.257213489,669,641.742786511,885,788,817.742786511,654,631,656,0.403705931727,0.00453335237662,0.0499922060395,0.999999998943,3.30294949056e-05,-3.05980696399e-05,-9.28771331172e-06,1793250275816865792
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.83639594,746,719.83639594,683.83639594,669,641.16360406,885,788,817.16360406,654,631,656,0.404049058861,0.00453119138765,0.0500017107634,0.999999999508,2.8736890628e-05,-1.02595792074e-05,-7.23954850041e-06,1793250275833532416
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.586142946,746,720,683.586142946,669,641,885,788,817,654,631,656,0.404420553269,0.00452614073973,0.0500090313571,0.999999999739,2.14263104435e-05,6.45032658218e-06,-4.52610924202e-06,1793250275850199040
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.009359499,746,720,683.009359499,669,641,885,788,817,654,631,656,0.404803215239,0.00451995249686,0.0500154921066,0.999999999679,1.29276198122e-05,2.17317381532e-05,-1.55076615591e-06,1793250275866865664
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,719.433755865,684.13248827,669,641.566244135,885.566244135,788,817,654,631,656,0.405223842473,0.00451737609235,0.0500114818499,0.999999999771,1.04112947849e-05,1.86798934e-05,7.84918878566e-07,1793250275883532288
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,719.144753413,684.855246587,669,641.855246587,885.855246587,788,817,654,631,656,0.405641918755,0.00451432159718,0.0500033571749,0.999999999952,6.81576913151e-06,6.15572694862e-06,3.31624565112e-06,1793250275900198912
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,719.732208474,684.267791526,669,641.267791526,885.267791526,788,817,654,631,656,0.406050278143,0.00450962274724,0.0499831775314,0.999999999387,-3.82079213775e-07,-3.4412949438e-05,6.47817443898e-06,1793250275916866048
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.684689043,720,684,669,641,885,788,817,654,631,656,0.406494549121,0.00450477960372,0.0499636078416,0.999999997581,-6.59046693256e-06,-6.85953725012e-05,9.49913087292e-06,1793250275933532928
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.105232779,720,684,669,641,885,788,817,654,631,656,0.406968904345,0.00449981558068,0.0499445491258,0.999999995105,-1.19699550382e-05,-9.74278469193e-05,1.24019909505e-05,1793250275950199552
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.471705028,745,720,684.471705028,669,641.471705028,885.471705028,788,817,654,630.528294972,656,0.40750297919,0.00449408142253,0.0499430621593,0.999999995011,-8.07818376652e-06,-9.82410850467e-05,1.6174079637e-05,1793250275966866176
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.952119389,745,719.952119389,685,669,641.952119389,886,788,817,654,630.047880611,656,0.408057776754,0.00448814008665,0.0499477913758,0.999999995889,-3.86224288278e-07,-8.84178931209e-05,2.01183368246e-05,1793250275983532800
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.378177736,745,719.378177736,685,669,641.378177736,886,788,817,654,630.621822264,656,0.408694653786,0.00448180013478,0.0499779763929,0.999999998915,2.64542618957e-05,-3.00455441639e-05,2.38349687906e-05,1793250276000199424
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,719.201442754,685,669,641.201442754,886,788,817,654,631,656,0.409326682368,0.00447546456858,0.0500021331643,0.999999998741,4.02432997981e-05,1.22890130501e-05,2.73344633046e-05,1793250276016866048
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,719.792033614,685,669,641.792033614,886,788,817,654,631,656,0.409949344653,0.004469137475,0.0500146445389,0.999999998843,2.88194842071e-05,2.36416815222e-05,3.04144905525e-05,1793250276033532416
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.374120433,745.374120433,719.625879567,685,669.374120433,641.625879567,886,788,817,654.374120433,630.625879567,656,0.410567902663,0.00446214935004,0.0500070884118,0.999999999563,1.90206989297e-06,-1.45600405524e-07,2.9511943757e-05,1793250276050199040
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.951585066,745.951585066,719.048414934,685,669.951585066,641.048414934,886,788,817,654.951585066,630.048414934,656,0.411184229874,0.00445480193752,0.0499886250746,0.999999998165,-3.34365184864e-05,-4.30323609511e-05,2.64447640719e-05,1793250276066866432
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,745.472090575,719,685.527909425,669.472090575,641,886,788,817,654.472090575,630,656,0.411852868013,0.00444703927847,0.0499620993789,0.99999999479,-4.42467937698e-05,-8.78280368176e-05,2.73742788026e-05,1793250276083533056
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,745.104225867,719.104225867,686.104225867,669.104225867,641.104225867,886,788,817,654,630,656,0.412552466611,0.00443992823505,0.0499455564061,0.999999992209,-4.74929920705e-05,-0.000111831577433,2.86366365694e-05,1793250276100199424
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,745.680979334,719.680979334,686.680979334,669.680979334,641.680979334,886,788,817,654,630,656,0.413370726726,0.00443594369846,0.0499776170003,0.999999998372,-2.66226087378e-05,-4.07780502581e-05,2.97498061252e-05,1793250276116865536
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,745.735150184,720,686.735150184,670,642,886.264849816,788,817.264849816,654,630,656,0.414156363904,0.00443437192496,0.0499935039492,0.999999999305,-1.85080280184e-05,-9.03946602882e-06,3.10887913966e-05,1793250276133532160
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,745.142470211,720,686.142470211,670,642,886.857529789,788,817.857529789,654,630,656,0.414901620639,0.0044357866605,0.0499893712222,0.999999998785,-2.61825316103e-05,-2.59647686142e-05,3.27072908555e-05,1793250276150198784
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,745.436855004,719.563144996,686,670,641.563144996,887.436855004,788,818,654,630.436855004,656.436855004,0.415659806354,0.00444511600498,0.0499651393563,0.999999997104,-2.50267000056e-05,-6.43105085104e-05,3.20830681503e-05,1793250276166865664
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.988029911,746,719.011970089,686.011970089,670,641,888,788,818,654,631,656.988029911,0.41642399884,0.00445675930841,0.0499355395844,0.9999999935,-2.08765670778e-05,-0.000107781984591,3.07852151814e-05,1793250276183532288
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.412158344,746,719.587841656,686.587841656,670,641,888,788,818,654,631,656.412158344,0.4172784245,0.00445942162999,0.04995269684,0.999999996794,-7.30855664661e-06,-7.33903324921e-05,3.11873344804e-05,1793250276200199168
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,720,687,670,641.167599748,888,788,818,654,631,656,0.418135223254,0.00445903579159,0.0499694458919,0.999999998556,-8.58330084801e-07,-4.32189942645e-05,3.19277351918e-05,1793250276216866048
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,720,687,670,641.757142374,888,788,818,654,631,656,0.418997996369,0.00445097601904,0.0499851672646,0.999999999082,-1.23275717784e-05,-2.36725632266e-05,3.35197806384e-05,1793250276233532928
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,720,687.340585199,670,642,888,788,818,654,631,656,0.419851052408,0.00444631407423,0.0499795980832,0.999999998563,-2.11291083157e-05,-3.54529479627e-05,3.42069794203e-05,1793250276250199552
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,720,687.919755006,670,642,888,788,818,654,631,656,0.420697301467,0.0044440323547,0.0499591145756,0.999999996627,-2.80618802791e-05,-6.9178197912e-05,3.42603206041e-05,1793250276266865920
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,720,688.495211058,670,641.504788942,888,788,818,654,631,656,0.421626402912,0.00444148995213,0.0499804290928,0.999999998634,-3.36041721017e-05,-2.07128261902e-05,3.42570088264e-05,1793250276283532032
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.069957527,746,720,688.930042473,670,641.069957527,888,788,818.069957527,654,630.930042473,656,0.422563502887,0.00443926109008,0.0500048403327,0.999999998149,-3.8159213652e-05,3.26574032763e-05,3.43467370276e-05,1793250276300198656
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.643894832,746,720,688.356105168,670,641.643894832,888,788,818.643894832,654,630.356105168,656,0.423462225487,0.00443959304802,0.0500031302919,0.999999998348,-3.72131352366e-05,2.61304085719e-05,3.5172376045e-05,1793250276316865280
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.774908514,746,720,688.225091486,670,642,888.225091486,788.225091486,818.774908514,654,630,656.225091486,0.424370350436,0.00444195421076,0.0499987812461,0.999999998693,-3.20839540541e-05,1.78330472007e-05,3.55754920039e-05,1793250276333531904
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.18184441,746,720,688.81815559,670,642,888.81815559,788.81815559,818.18184441,654,630,656.81815559,0.425293846194,0.00444763265496,0.0499901180361,0.999999999153,-2.01163653595e-05,6.64154398252e-06,3.52878804269e-05,1793250276350198784
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,689,670,641.599929993,888.599929993,788.599929993,818.400070007,654,630,656.599929993,0.426228739616,0.00444639845016,0.0500009253584,0.99999999903,-1.86319600264e-05,1.45378587099e-05,3.71629139925e-05,1793250276366865920
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720,689,670,641.022946085,888.022946085,788.022946085,818.977053915,654,630,656.022946085,0.427168673113,0.00444210742074,0.0500203426939,0.999999998486,-2.17832962427e-05,3.08749476798e-05,3.99942851673e-05,1793250276383532544
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,720,689,670,641.552309467,888,788,819,654.552309467,630.552309467,656,0.428021349744,0.00444088478092,0.0499861681403,0.999999998043,-2.31316199129e-05,-4.14163497905e-05,4.07936579915e-05,1793250276400199168
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.131007139,746,720,689.131007139,670,641.868992861,888.131007139,788,819,654.868992861,631,656,0.428897910587,0.00444049978022,0.0499577977825,0.999999994316,-2.42924868701e-05,-9.53858785554e-05,4.09921380558e-05,1793250276416865536
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.722043071,746,720,689.722043071,670,641.277956929,888.722043071,788,819,654.277956929,631,656,0.429871030209,0.00444260989031,0.0499576027003,0.999999996309,-2.50573191635e-05,-7.21295193788e-05,3.93761136715e-05,1793250276433531904
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,720,689.693864696,670,641.306135304,889,788,819,654,630.693864696,656,0.430809673949,0.0044433502747,0.0499565824113,0.99999999676,-2.61087754964e-05,-6.51931570208e-05,3.9356706861e-05,1793250276450198528
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,746,720,689.115937229,670,641.884062771,889,788,819,654,630.115937229,656,0.431717709358,0.00444287459307,0.0499548294894,0.999999996148,-2.74147015233e-05,-7.27459683692e-05,4.07548045523e-05,1793250276466865152
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746,720,689.460435189,669.539564811,641.539564811,889,788,819,654,630.460435189,656,0.432616449742,0.00444026076277,0.0499452812544,0.999999995063,-3.23504079723e-05,-8.47317688633e-05,4.05867320322e-05,1793250276483532032
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.963059525,746,720,690,669,641,889,787.963059525,819,654,630.963059525,656,0.43351296148,0.00443709273979,0.0499362030302,0.999999994025,-3.78433443793e-05,-9.43822006717e-05,4.01306030646e-05,1793250276500199168
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.378804412,746,720,690,669,641,889,787.378804412,819,654,630.378804412,656,0.434411012445,0.00443366365061,0.0499630725544,0.999999997023,-3.80962625046e-05,-5.29490725578e-05,4.12298211666e-05,1793250276516866048
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.204311617,746,720,690,669.204311617,641,888.795688383,787.204311617,819,654.204311617,630.204311617,656.204311617,0.435296861341,0.00443276062295,0.0499769223338,0.999999997783,-3.28765837559e-05,-3.93151279135e-05,4.25130163145e-05,1793250276533532416
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.785327533,746,720,690,669.785327533,641,888.214672467,787.785327533,819,654.785327533,630.785327533,656.785327533,0.436160212543,0.00443651507946,0.0499667666602,0.999999995912,-1.75666772195e-05,-7.69365679854e-05,4.41354236722e-05,1793250276550198784
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.635706396,746,720,690,669.635706396,641,888.364293604,788,819.364293604,654.635706396,631,656.635706396,0.437019800689,0.00443831794712,0.0499572240786,0.999999994456,-1.67894823493e-05,-9.40923141705e-05,4.41823695315e-05,1793250276566865664
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.057941543,746,720,690,669.057941543,641,888.942058457,788,819.942058457,654.057941543,631,656.057941543,0.437877183684,0.00443897720921,0.0499480407616,0.999999993836,-2.45282658455e-05,-9.92554313478e-05,4.33061156522e-05,1793250276583532288
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,720,690.517543317,669.517543317,641,888.482456683,788,820,654,631,656,0.438743645822,0.00443701969016,0.0499698722667,0.999999996909,-3.26942016594e-05,-5.67247568459e-05,4.35299304726e-05,1793250276600198656
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,720,691,669.905226955,641.094773045,888.094773045,787.905226955,820,654,631,656,0.439593386287,0.00443479493378,0.0499879545376,0.999999998063,-3.84615848291e-05,-2.17840347862e-05,4.38196005671e-05,1793250276616865280
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,720,691,669.317601736,641.682398264,888.682398264,787.317601736,820,654,631,656,0.440350905589,0.0044326972704,0.0499685617565,0.999999997088,-3.15080769191e-05,-5.39593831642e-05,4.38140857066e-05,1793250276633532160
+185,3.083333333,POSE1_TO_POSE2_PRESS,769.267454058,746,720,690.732545942,669,642,889.267454058,787.267454058,820,654,631,656,0.441127742014,0.00443077974966,0.0499586319594,0.999999996244,-2.75744448576e-05,-6.93950323742e-05,4.40064164247e-05,1793250276650199040
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.849487652,746,720,690.150512348,669,642,889.849487652,787.849487652,820,654,631,656,0.441927299192,0.0044290741129,0.0499598325279,0.999999996521,-2.71927921153e-05,-6.51414406318e-05,4.44314532094e-05,1793250276666866176
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746,719.574408266,690.425591734,669,641.574408266,889.574408266,788,820,654,631,656,0.442680479477,0.00443240396103,0.0499682396263,0.999999997533,-2.60912950709e-05,-4.76704379092e-05,4.4506564556e-05,1793250276683532544
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746,719.00037232,690.99962768,669,641.00037232,889.00037232,788,820,654,631,656,0.443417483806,0.00443749016031,0.0499791603254,0.999999998378,-2.47387199885e-05,-2.55892697399e-05,4.44596237224e-05,1793250276700198912
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746,719.575313406,691,668.424686594,640.424686594,889,788,820,654,631,656,0.444037260791,0.00444543563896,0.0499345672757,0.999999993149,-1.33127897231e-05,-0.000107210927217,4.50514173272e-05,1793250276716865536
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.844886625,746.155113375,720.155113375,691,667.844886625,640,889,788,820,654,631,656,0.44465388733,0.00445410750474,0.0498908402221,0.999999982729,-6.48078833229e-07,-0.000180359410303,4.48651142729e-05,1793250276733532160
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.253518263,746.746481737,720.746481737,691,667.253518263,640,889,788,820,654,631,656,0.445261867392,0.00446481711044,0.0498496500971,0.999999972645,1.54823063801e-05,-0.000229487890511,4.24892561771e-05,1793250276750198784
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.33048589,746.66951411,721,691,667.33048589,640,889.33048589,787.66951411,820.33048589,654,631,656,0.445901609209,0.00447244622386,0.0498399960221,0.999999972457,2.60106279639e-05,-0.000229682662875,4.06871109498e-05,1793250276766865664
+193,3.216666667,POSE1_TO_POSE2_PRESS,769.908964005,746.091035995,721,691,667.908964005,640,889.908964005,787.091035995,820.908964005,654,631,656,0.446565184587,0.00447776377612,0.0498540061825,0.999999980049,3.23352344194e-05,-0.000193158227775,3.93154723995e-05,1793250276783532544
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,746.482733168,720.517266832,691,668,640,889.517266832,787,821,654.482733168,631,656,0.447121972781,0.00448197915746,0.0498402083131,0.999999975275,3.83008456779e-05,-0.000215639213014,3.85061935081e-05,1793250276800199168
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,746.944078714,720.055921286,691,667.888157427,639.944078714,889,787,821,654.944078714,631,656,0.44765375822,0.00448627308778,0.0498195466389,0.999999966744,4.46023009759e-05,-0.000251194598564,3.77436858019e-05,1793250276816865792
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,746.368115478,720.631884522,691,666.736230956,639.368115478,889,787,821,654.368115478,631,656,0.448138498307,0.00449321174423,0.0497833519261,0.999999951069,5.4650455129e-05,-0.000305854858399,3.6439418931e-05,1793250276833532160
+197,3.283333333,POSE1_TO_POSE2_PRESS,769.78608231,746.21391769,720.78608231,691.21391769,666,638.78608231,889,787,821,654.21391769,631,656,0.448621409694,0.0045000467383,0.0497593776494,0.999999938848,6.388566682e-05,-0.000342031734576,3.51789742539e-05,1793250276850198784
+198,3.300000000,POSE1_TO_POSE2_PRESS,769.193298856,746.806701144,720.193298856,691.806701144,666,638.193298856,889,787,821,654.806701144,631,656,0.449101082252,0.00450669813704,0.0497570467705,0.999999937177,7.16810899478e-05,-0.000345473018679,3.39961425736e-05,1793250276866865664
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.389681834,747,720,692,666,638,889,787.389681834,821,654.610318166,631,656,0.44957535461,0.00451442720294,0.0497659434297,0.999999940781,7.81692430892e-05,-0.000333596285025,3.22795323964e-05,1793250276883532288
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.967919305,747,720,692,666,638,889,787.967919305,821,654.032080695,631,656,0.450047014013,0.00452267772104,0.0497802727657,0.999999946616,8.40248472029e-05,-0.00031430761097,3.03046423069e-05,1793250276900198912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,746,720,692,665,637.883203033,889.883203033,787,821.116796967,654,631,656,0.45085373519,0.00455072989634,0.049793784228,0.999999947525,0.000113559221278,-0.000302293842288,2.5930456836e-05,1793250276933532416
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,746,720,692,665,637.293728055,889.293728055,787,821.706271945,654,631,656,0.451186279956,0.00455664673343,0.0497851006812,0.99999993959,0.000116791713413,-0.000326388992752,2.55075735416e-05,1793250276950199040
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,746,720,692,665,637,889.290540273,787,821.709459727,654,631,656,0.451497538697,0.00455915316926,0.0497699486292,0.999999927793,0.00012032313373,-0.000359551936338,2.56725505543e-05,1793250276966865920
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,746,720,692,665,637,889.869637459,787,821.130362541,654,631,656,0.4517876567,0.00455827248445,0.0497483722297,0.999999911254,0.000124151441305,-0.000401720770345,2.64213748712e-05,1793250276983532800
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,746,720,692,664.552495428,637,890,787,821.447504572,654,631,656,0.45206129253,0.00455919342556,0.0497293472226,0.999999898249,0.00012582623056,-0.000432428344812,2.59986314317e-05,1793250277000199168
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,746,720,692,664.024718977,636.975281023,890,787,822,654,631,656,0.45232968177,0.00456060203582,0.0497121601079,0.999999886865,0.000126808728912,-0.000457769101736,2.52287680701e-05,1793250277016865536
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,746,720,692,664.595409919,636.404590081,890,787,822,654,631,656,0.45258794788,0.00456122160989,0.0497191956119,0.999999895754,0.000126318694736,-0.00043811411684,2.43094606758e-05,1793250277033532160
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,746.172579188,720,692,665,636,890,787,822,654.172579188,631,656,0.452833553355,0.00456160014948,0.049726247969,0.999999903129,0.000125804056565,-0.000421130778094,2.37497489029e-05,1793250277050198784
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,746.765528342,720,692,665,636,890,787,822,654.765528342,631,656,0.453048319901,0.00456139157498,0.0497333413758,0.99999990755,0.000125229487923,-0.000410655062695,2.40659435893e-05,1793250277066865408
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.350404823,746.649595177,720,692,664.649595177,636,890,787,822,655,631,656,0.453237007484,0.00456102029466,0.0497330179717,0.999999907497,0.000123411815755,-0.000411338547659,2.4003624926e-05,1793250277083532288
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.930001218,746.069998782,720,692,664.069998782,636,890,787,822,655,631,656,0.453408637451,0.00456054259225,0.0497278434063,0.99999990451,0.000120781058688,-0.000419321002642,2.36937295949e-05,1793250277100199168
+213,3.550000000,POSE1_TO_POSE2_PRESS,770.494782023,746.505217977,720,692,664,635.494782023,890,787,822,655,631,656,0.453550765876,0.00456158350569,0.0497179927905,0.999999898284,0.000121703660277,-0.000433697781147,2.29532937617e-05,1793250277116865536
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,720.081477363,692,664,635.081477363,890,787,822,655,631,656,0.453684740127,0.00456273293261,0.0497079474449,0.999999891783,0.000123023695097,-0.000448109534835,2.22902142991e-05,1793250277133532160
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+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,721,692,664,635.747382085,890,787.252617915,822,655,631,656,0.453894340246,0.00456291085973,0.0496953605993,0.999999884515,0.000123317074328,-0.000463963147621,2.23820034767e-05,1793250277166865408
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+229,3.816666667,POSE1_TO_POSE2_PRESS,770,746,720,692.208365618,663.791634382,635,890.791634382,787.791634382,822,655,631,656.208365618,0.454355171384,0.00457261747327,0.0496709410154,0.999999865645,0.000133776691478,-0.000500463900291,1.86870755773e-05,1793250277383532544
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,746,720.375127821,692,664,635,890.624872179,787.624872179,822,654.624872179,631,656,0.454356002467,0.00457341473813,0.0496697127563,0.999999864391,0.000135872369283,-0.000502402441564,1.86899491092e-05,1793250277400199168
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,746,720.954085775,692,664,635,890.045914225,787.045914225,822,654.045914225,631,656,0.454355996871,0.00457279880701,0.0496687543359,0.999999863457,0.000136621766727,-0.00050403280042,1.92946611185e-05,1793250277416865792
+232,3.866666667,POSE1_TO_POSE2_PRESS,769.470690131,746.529309869,721,691.470690131,663.470690131,634.470690131,890,787,822,654.529309869,631,656,0.45435713232,0.00457267034312,0.0496680545786,0.999999863446,0.000133600836694,-0.0005048810238,1.88000545052e-05,1793250277433532416
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.106455039,747,721,691.106455039,663,634.106455039,889.893544961,787,822,655,631,656,0.454358197631,0.00457231294815,0.0496674814013,0.999999863473,0.000130944422748,-0.000505536775746,1.84229148928e-05,1793250277450198784
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.693729495,747,721,691.693729495,663,634.693729495,889.306270505,787,822,655,631,656,0.45435850223,0.00457073190642,0.0496673793098,0.999999863357,0.000131401227114,-0.000505627488856,1.90040167371e-05,1793250277466865664
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746.722927415,721,692,663,635,889.277072585,787,822,654.722927415,631,656,0.454358932549,0.00457180220477,0.0496671349072,0.999999863025,0.000133441459773,-0.000505751896978,1.89274312893e-05,1793250277483532288
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746.143869107,721,692,663,635,889.856130893,787,822,654.143869107,631,656,0.454359499894,0.00457576223976,0.0496667353977,0.999999862449,0.000137207495626,-0.000505913029825,1.8134022298e-05,1793250277500198912
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,746,721,692,663.433178278,635,890,787.433178278,822,654,631,656,0.454359438853,0.00457568223698,0.0496660995036,0.999999862024,0.000137428631554,-0.000506698036546,1.79615878771e-05,1793250277516865280
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,746.009555037,721,692,663.990444963,635,890,787.990444963,822,654.009555037,631,656,0.454359194515,0.00457428822948,0.0496654042601,0.999999861663,0.000136476233885,-0.000507664641181,1.79964324515e-05,1793250277533532416
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,746.58558792,721,692,663.41441208,635,890,787.41441208,822,654.58558792,631,656,0.454360399112,0.00457417422743,0.0496658234031,0.999999862054,0.000135427441644,-0.000507169948515,1.81493235834e-05,1793250277550199040
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,721,692,663,635,890,787,822,655,631,656,0.454361486869,0.00457408345367,0.0496662992128,0.999999862473,0.000134703062603,-0.000506534325417,1.82381178288e-05,1793250277566865920
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,721,692,663,635,890,787,822,655,631,656,0.454362275035,0.00457405223958,0.0496669203217,0.999999862964,0.000134810511806,-0.000505537342501,1.81625611815e-05,1793250277583532288
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,720.66334916,692,663,635,890,787,822,655,631,656,0.454361885138,0.0045746621149,0.0496664288224,0.999999862225,0.000135693941701,-0.000506768151282,1.79936844065e-05,1793250277600198656
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,720.084076471,692,663,635,890,787,822,655,631,656,0.45436064622,0.00457573401878,0.0496651354742,0.999999860591,0.000137136615322,-0.000509604513632,1.77575524866e-05,1793250277616865024
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,747,720.492186805,692,663,634.507813195,890,787,822,655,631,656,0.454363203321,0.00457386489759,0.0496661589508,0.999999862309,0.000135428158977,-0.000506662020499,1.8312013979e-05,1793250277633531648
+245,4.083333333,HOLD_POSE2,770,746,721,692,664,635,890,787,822,655,631,656,0.454361735862,0.00457191438668,0.0496660334457,0.99999986222,0.000129938630474,-0.000508265293718,1.84965258341e-05,1793250277677299200
+246,4.100000000,HOLD_POSE2,770,746,721,692,663.408448673,635,890,787,822.591551327,654.408448673,631,656,0.454361947427,0.00457543597814,0.0496651711439,0.999999861289,0.000134862604067,-0.00050883966918,1.77629759268e-05,1793250277693965568
+247,4.116666667,HOLD_POSE2,769.82050566,746,721,692,663,635,890,787,822.82050566,654.17949434,631,656,0.454362134143,0.00457733705293,0.0496645233996,0.999999860674,0.000137756123476,-0.000509285746701,1.74015205101e-05,1793250277710631680
+248,4.133333333,HOLD_POSE2,769.240611632,746,721,692,663,635,890,787,822.240611632,654.759388368,631,656,0.45436226543,0.00457562322686,0.0496643542706,0.999999860809,0.000136120290868,-0.000509445628959,1.7870099583e-05,1793250277727298304
+249,4.150000000,HOLD_POSE2,769.336529229,746.336529229,721,692.336529229,663,634.663470771,890,787,822,654.663470771,631,656,0.454361081675,0.00457384112986,0.0496638336978,0.99999986028,0.000134904315678,-0.000510791102251,1.82605845277e-05,1793250277743964928
+250,4.166666667,HOLD_POSE2,769.911717571,746.911717571,721,692.911717571,663,634.088282429,890,787,822,654.088282429,631,656,0.454358965322,0.00457201061673,0.0496630638887,0.999999859278,0.000133986094212,-0.000512977370558,1.85956868097e-05,1793250277760631552
+251,4.183333333,HOLD_POSE2,770,746.517164361,720.517164361,692.517164361,663,634,889.517164361,787,822,654.482835639,631,656,0.454358977555,0.00457308388358,0.0496628517022,0.999999858993,0.000134400728285,-0.000513438151232,1.82118985227e-05,1793250277777298176
+252,4.200000000,HOLD_POSE2,770,746.055852335,720,692,663,634.055852335,889.055852335,787.055852335,822,655,631,656,0.454359409653,0.00457451934637,0.0496627495377,0.999999858893,0.000134864765569,-0.000513527903932,1.7710824745e-05,1793250277793964800
+253,4.216666667,HOLD_POSE2,770,746.654492457,720,692,663,634.654492457,889.654492457,787.654492457,822,655,631,656,0.454360171441,0.00457435812297,0.0496627340397,0.999999859333,0.000133460359741,-0.000513052302142,1.7336659826e-05,1793250277810631424
+254,4.233333333,HOLD_POSE2,770,747,720.243749045,692,663,634.756250955,890,787.756250955,822,655,631,656,0.454360729057,0.00457447995793,0.0496627812491,0.999999859565,0.000133213899481,-0.000512668362426,1.7192998105e-05,1793250277827298304
+255,4.250000000,HOLD_POSE2,770,747,720.820197745,692,663,634.179802255,890,787.179802255,822,655,631,656,0.454361007993,0.00457498814693,0.0496629140497,0.999999859516,0.000134547950516,-0.000512409534791,1.73639564549e-05,1793250277843965184
+256,4.266666667,HOLD_POSE2,770,746.605235545,720.605235545,692,663,634,890,787,822,655,631,656,0.454361623391,0.00457477277925,0.0496634371372,0.999999859668,0.00013542368928,-0.000511871782245,1.76332060044e-05,1793250277860631552
+257,4.283333333,HOLD_POSE2,770,746.031521904,720.031521904,692,663,634,890,787,822,655,631,656,0.454362391308,0.00457422941885,0.0496641371442,0.999999859912,0.00013609167235,-0.000511207591279,1.7947011582e-05,1793250277877298176
+258,4.300000000,HOLD_POSE2,770,746,720,692,663,634,890,787,822,654.441769311,631,656,0.454362468917,0.00457467522177,0.0496647630816,0.999999860431,0.000134673403354,-0.000510582916775,1.74991263831e-05,1793250277893964800
+259,4.316666667,HOLD_POSE2,770,746.145960147,720,692,663,634.145960147,890,787,822,654,630.854039853,656,0.454362500515,0.0045749841289,0.0496648939836,0.999999860664,0.000133438735863,-0.000510461689659,1.71539581703e-05,1793250277910631424
+260,4.333333333,HOLD_POSE2,770,746.724921721,720,692,663,634.724921721,890,787,822,654,630.275078279,656,0.454362514675,0.00457471632338,0.0496635691019,0.999999860009,0.000133108552006,-0.000511827160391,1.7244876391e-05,1793250277927298048
+261,4.350000000,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,823,654,631,656,0.454363370252,0.00457276612551,0.0496650302464,0.999999860955,0.000132770693553,-0.000510049253808,1.76560027805e-05,1793250277964264960
+262,4.366666667,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,822.412111424,654.587888576,631,656,0.454362678186,0.00457143122693,0.0496636201792,0.999999860373,0.000131482776279,-0.000511512580434,1.79351684322e-05,1793250277980931584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,822,655,631,656,0.45436238515,0.00457145973526,0.0496629192687,0.999999859983,0.000131692370312,-0.000512219739474,1.79474417059e-05,1793250277997598464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,822,655,631,656,0.454363027648,0.00457468476641,0.0496638809841,0.999999860042,0.000135412896455,-0.000511154055264,1.73339828054e-05,1793250278014265344
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634.330432379,890,787,822,655,631,656,0.454362629867,0.00457574671198,0.0496637032557,0.999999859707,0.000136461781961,-0.000511539481434,1.70758399815e-05,1793250278030931968
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634.907027523,890,787,822,655,631,656,0.454361457107,0.00457519721986,0.0496626766739,0.999999859084,0.000135520370629,-0.000513005943812,1.70823976091e-05,1793250278047598592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,746,720.483166486,692,663,634.516833514,889.516833514,787,822,655,631,656,0.45436268028,0.00457435420933,0.0496635126762,0.999999859991,0.000134992282654,-0.000511369751387,1.72229641846e-05,1793250278064264960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746,721,692,663,634,889,787,822,654.939535637,630.939535637,656,0.454363846825,0.00457356286799,0.0496643370519,0.999999860852,0.000134576076311,-0.000509788084391,1.73837777438e-05,1793250278080931584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,746,721,692,663,634,889,787,822,654.351357717,630.351357717,656,0.454360499188,0.00457371495111,0.0496619348653,0.999999858769,0.000134442852896,-0.000513888007853,1.74964569952e-05,1793250278097598208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,746.233079812,721,692,663,634,889,787,822,654,630.233079812,656,0.454354615019,0.00457445875496,0.0496589485726,0.999999856212,0.000134425110824,-0.000518853772496,1.71948162919e-05,1793250278114264832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,746.811967867,721,692,663,634,889,787,822,654,630.811967867,656,0.454344967533,0.00457608046369,0.0496550956728,0.999999852945,0.000134578702349,-0.000525104139735,1.62784708785e-05,1793250278130931456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,746.61044189,721,692,663,634,889.38955811,787,822,654.38955811,631,656,0.454317716099,0.00457614904878,0.0496426598777,0.999999841385,0.000135896240449,-0.0005463444546,1.64253006001e-05,1793250278147598080
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,746.033475944,721,692,663,634,889.966524056,787,822,654.966524056,631,656,0.454281995792,0.0045754704604,0.0496260950401,0.999999825168,0.000137773727563,-0.000574796103674,1.70836003966e-05,1793250278164264704
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,746.54061454,721,692,663,634,890,787,822,655,631,656,0.454217749592,0.00457629076907,0.0496009581361,0.999999799918,0.000137028227618,-0.000617346978843,1.64142673581e-05,1793250278180931584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,663,634,890,787,822,655,631,656,0.454150909111,0.00457726848273,0.0495771051895,0.999999775643,0.000136849459633,-0.000655547918976,1.55600941619e-05,1793250278197597952
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,663,634,890,787,822,655,631,656,0.45408071031,0.0045785072459,0.0495605201854,0.999999763813,0.000139591966791,-0.00067281735399,1.42925127625e-05,1793250278214264576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,746.70726307,721,692,663,634,890,787,821.70726307,655,631,656,0.454000884542,0.00458000280195,0.0495492549754,0.999999754134,0.000141551871579,-0.000686670157165,1.33836750198e-05,1793250278230931456
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,746.128518435,721,692,663,634,890,787,821.128518435,655,631,656,0.453911653109,0.00458174924784,0.0495431872727,0.999999746696,0.000142747163749,-0.000697184866634,1.28253344706e-05,1793250278247598080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,746,720.552677204,692,663,634,890,787,821.447322796,655,631,656,0.453816699315,0.00458216767704,0.0495448179802,0.999999748031,0.000145203296854,-0.000694760991187,1.27123483685e-05,1793250278264264704
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.977758176,746.022241824,720.022241824,692,663.022241824,634.022241824,890,787,822,654.977758176,631,656.022241824,0.453718976444,0.00458230671267,0.0495486899446,0.999999751856,0.000148020951862,-0.000688633564381,1.27039501922e-05,1793250278280931072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.40515048,746.59484952,720.59484952,692,663.59484952,634.59484952,890,787,822,654.40515048,631,656.59484952,0.453593153208,0.00458491261093,0.0495536438047,0.999999755809,0.000150878472435,-0.000682253912647,1.21378115684e-05,1793250278297597696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,747,720.826307006,692,664,634.826307006,890,787,821.826307006,654.173692994,631,656.826307006,0.453457362306,0.00458763920722,0.0495575310077,0.999999757909,0.000154540477925,-0.000678356084361,1.14645907031e-05,1793250278314264576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,747,720.232376607,692,664,634.232376607,890,787,821.232376607,654.767623393,631,656.232376607,0.453297455392,0.00459065782308,0.0495588375117,0.999999755606,0.000160148875014,-0.000680462846098,1.05322923248e-05,1793250278330931200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,746.647540311,720.352459689,692,664,634.352459689,890,787,821.352459689,655,631,656,0.453114536398,0.00459239645879,0.0495608385329,0.999999753895,0.000165124980604,-0.000681790609992,1.0236120009e-05,1793250278347597824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769,746.068548889,720.931451111,692,664,634.931451111,890,787,821.931451111,655,631,656,0.452916827139,0.00459331243016,0.0495632859319,0.999999752565,0.000169694702432,-0.00068261769916,1.03487964526e-05,1793250278364264192
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.506762611,746.506762611,720.493237389,692.506762611,664,635,890,787,821.493237389,655,631,656,0.452698814886,0.00459588700988,0.0495678994101,0.999999755361,0.000174061837828,-0.000677416682755,9.28717083429e-06,1793250278380931072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,720,692.916637791,664,635,889.916637791,787,821,654.916637791,631,656,0.452473774184,0.0045984262482,0.0495729629282,0.999999758495,0.000178489956197,-0.000671627272135,8.23408677906e-06,1793250278397597696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,720,692.329262127,664,635,889.329262127,787,821,654.329262127,631,656,0.452222723826,0.00459940511292,0.0495789886821,0.999999760578,0.000183451272564,-0.00066717487735,8.18611347465e-06,1793250278414264320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,720,692,664,635,889.254423894,787,820.745576106,654.254423894,631,656,0.451946476782,0.00460204368766,0.0495830146357,0.999999761034,0.000189230683925,-0.000664880791674,7.50810462172e-06,1793250278430930944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,720,692,664,635,889.833403193,787,820.166596807,654.833403193,631,656,0.451638087642,0.00460679946856,0.0495844895472,0.999999759425,0.000196053696468,-0.000665339949587,6.02639200371e-06,1793250278447597568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746.589244,720,692,664,635.410756,890,787,820,655,631,656,0.451303781785,0.00461087403452,0.049584379155,0.999999761665,0.000203246117518,-0.000659807791893,3.92598603518e-06,1793250278464264192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,746.012548287,720,692,664,635.987451713,890,787,820,655,631,656,0.450959005943,0.00461467339901,0.049583628322,0.999999765368,0.000210587774282,-0.00065185522592,1.57563659083e-06,1793250278480930816
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,746.564084035,720,692,664.564084035,636,890,787,820,654.435915965,631,656,0.450610305738,0.00462095310193,0.049602298781,0.999999787353,0.000221258132103,-0.000613464393356,-6.97682689361e-07,1793250278497597696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,746.856703219,720,692,665,636,890,787,819.856703219,654.143296781,630.856703219,656,0.450251392394,0.00462672671737,0.0496210834219,0.999999807296,0.000231272232042,-0.000576119536397,-2.78585736889e-06,1793250278514264320
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,746.26949241,720,692,665,636,890,787,819.26949241,654.73050759,630.26949241,656,0.449861110603,0.00463076163197,0.0496388835441,0.999999823395,0.000239023966672,-0.000544112345845,-4.3057865158e-06,1793250278530930944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,746,720,691.684874429,665,636,889.684874429,787,819,654.684874429,630.315125571,656,0.449424861114,0.00463490705439,0.0496492960512,0.999999830142,0.000246696601352,-0.000528034983579,-5.94827677581e-06,1793250278547597568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,746,720,691.10245565,665,636,889.10245565,787,819,654.10245565,630.89754435,656,0.44894962124,0.00463914621129,0.0496534422984,0.999999829577,0.000254302143535,-0.000525469485358,-7.69472498137e-06,1793250278564264448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,746.472122245,720,691,665,636.472122245,889.472122245,787,819,654,631,656,0.448429692737,0.00464314798391,0.0496463332116,0.999999824059,0.000260576280527,-0.000532807503566,-9.94765550265e-06,1793250278580930816
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,747,720.046284846,691,665.046284846,637.046284846,889.953715154,787.046284846,819,654,630.953715154,656,0.44789871165,0.0046469564188,0.0496370573167,0.999999817485,0.000266365148078,-0.000542150507072,-1.23345019991e-05,1793250278597597440
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,747,720.635201834,691,665.635201834,637.635201834,889.364798166,787.635201834,819,654,630.364798166,656,0.447349991007,0.00464909229518,0.0496305461022,0.999999812124,0.000269796840906,-0.000550214744652,-1.50238159996e-05,1793250278614264320
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,747,721,691,666,638,889,788,819,654,630.799149613,656,0.446193004575,0.00465600058405,0.0496222802483,0.999999801245,0.000283594282794,-0.000562735346327,-2.03433581392e-05,1793250278647597568
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,746.046536921,720.046536921,691,666.953463079,638.953463079,889,787.046536921,819,654,631,656,0.444999507734,0.00465680688822,0.049680804207,0.999999842368,0.00028991042586,-0.00048028100997,-2.33496799412e-05,1793250278680931072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,746.529377414,720,691,667.529377414,639,889,787.529377414,818.470622586,654,630.470622586,656,0.444339512372,0.00465903159641,0.0497163003143,0.999999862387,0.00029600273325,-0.000432418282195,-2.49480099955e-05,1793250278697597440
+306,5.100000000,POSE2_TO_POSE3_RETREAT,769.892517469,746.892517469,720,691,667.892517469,639.107482531,889,788,818.107482531,654,630,656,0.443664929346,0.00465909403347,0.049742730567,0.999999876202,0.000297185378605,-0.000398170886916,-2.71326912037e-05,1793250278714264320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769.304265671,746.304265671,720,691,667.304265671,639.695734329,889,788,818.695734329,654,630,656,0.442949520607,0.00464846942367,0.0497288257911,0.99999987202,0.000274818837048,-0.000423583463389,-3.18085484602e-05,1793250278730930944
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,746,720,690.720433292,667.279566708,640,889,788,819,654,630.279566708,656,0.442243221431,0.00462793783282,0.0497345805093,0.99999989504,0.000199565096256,-0.000411040960322,-3.37405284905e-05,1793250278747597568
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,769.436835158,746,720,690,668.436835158,640,889,787.563164842,819,654,631,656,0.44081425176,0.00458738658058,0.0498004788425,0.999999956364,4.03624653809e-05,-0.000290697097863,-3.37292356789e-05,1793250278780930816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,769.985422469,746,720,690,669,640,889,787.014577531,819,654,631,656,0.440067052006,0.00458533584983,0.0498417163443,0.999999973576,4.72787916028e-05,-0.000222164810854,-3.54422913912e-05,1793250278797597440
+312,5.200000000,POSE2_TO_POSE3_RETREAT,769.412638653,746,720,690,669,640,889,787.587361347,819,654,631,656,0.439198028048,0.00459612206017,0.0498139637147,0.999999959651,7.02612359249e-05,-0.000272352161893,-3.98118017329e-05,1793250278814264064
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,770,746.081536236,720,690,669.918463764,640.918463764,888,788,819,654,631,656,0.435770756965,0.00461255264386,0.0497973493127,0.999999942333,0.000101232595955,-0.000320389575219,-4.93652631964e-05,1793250278880930816
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,746,720,689,669.224615041,640.775384959,888.775384959,788.775384959,818.775384959,654,630.224615041,656,0.432184067805,0.00459701675912,0.0497944174458,0.999999937547,0.000125472849782,-0.000328903477154,-3.13746933491e-05,1793250278947597312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,746,720,689,669.815496725,640.184503275,888.184503275,788.184503275,818.184503275,654,630.815496725,656,0.431302908143,0.00459514290561,0.0498098024554,0.999999945686,0.000119991899067,-0.000305030797823,-3.44289511698e-05,1793250278964264192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,746,720,688.601926722,669.601926722,640,888,788.398073278,818,654,631,656,0.430369354243,0.0045992236333,0.0497911773705,0.999999935424,0.000125665209186,-0.000334562175409,-3.77991132837e-05,1793250278980930816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,746,720,688.023120886,669.023120886,640,888,788.976879114,818,654,631,656,0.429412012452,0.00460600785,0.0497571110788,0.99999991444,0.000136402758014,-0.000388339973413,-4.13127014586e-05,1793250278997597440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,769.447491865,746,720,688,669,640.552508135,888,788.447491865,818,654,631,656,0.428491163586,0.00460782568114,0.0497689605479,0.999999920227,0.000136176070633,-0.000373228039752,-4.12599516106e-05,1793250279014264064
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769.716970876,746,719.283029124,688,669,641,887.283029124,788,818,653.283029124,631,656,0.426595482593,0.00461466697329,0.0497585919599,0.999999907935,0.000136591022118,-0.000405046509402,-3.75428899193e-05,1793250279047597568
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,746,719.300695785,688,669,641,887,788,818,653.300695785,631,656,0.425679444466,0.00461572896354,0.0497601321573,0.999999913575,0.000137961335511,-0.000390319093386,-3.83119795662e-05,1793250279064264192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746,719.881818504,688,669,641,887,788,818,653.881818504,631,656,0.424809977648,0.0046135178897,0.0497791815735,0.999999935874,0.000139887927088,-0.000326917536368,-4.25147619449e-05,1793250279080930816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,745.542796784,720,687.542796784,669.457203216,641,887,788,818,654,631,656,0.423938866976,0.00460848881785,0.0498075359955,0.999999950935,0.000134499828034,-0.000279666067688,-4.2739890542e-05,1793250279097597440
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,746,719.779223202,686.220776798,669,641,887,788.779223202,818,654,630.779223202,656,0.420306462938,0.00461175985501,0.0497928844258,0.999999935564,0.000140280331888,-0.000327875394967,-4.11337403611e-05,1793250279164263936
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.156641358,745.156641358,719,685.843358642,669,641,885.843358642,788,817.156641358,654,630.843358642,656,0.41155149755,0.00461663480046,0.0497978072517,0.999999932449,0.000145909419624,-0.000334432352092,-4.43500806048e-05,1793250279347597568
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,745.684463767,719.315536233,684.684463767,668.684463767,640.684463767,885,788,817.684463767,654,630,656,0.410192056135,0.00461252773081,0.0498024782616,0.999999934733,0.000133021422264,-0.000332985343882,-4.42679571937e-05,1793250279380931072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,745.127759195,719.872240805,684.127759195,668.127759195,640.127759195,885,788,817.127759195,654,630,656,0.409524844297,0.00461002675109,0.0497753929187,0.999999919007,0.000127980551665,-0.000378998586115,-4.43546056326e-05,1793250279397597952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745,720,684.460545619,668.460545619,640,885,788,817,654,630,655.539454381,0.408936911453,0.00460731301171,0.049781294662,0.999999924853,0.000127079678645,-0.000363485819734,-4.4984762092e-05,1793250279414264576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769.944040136,745,719.944040136,684.944040136,669,640.055959864,885,787.944040136,817,654,630,655,0.40837575444,0.0046047912395,0.0497973395161,0.999999936069,0.000127594953434,-0.000330911548149,-4.55986855023e-05,1793250279430931712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.369945162,745,719.369945162,684.369945162,669,640.630054838,885,787.369945162,817,654,630,655,0.407843883631,0.00460463364044,0.0498163294478,0.999999942521,0.000129805288714,-0.00031003796231,-4.45634416759e-05,1793250279447598336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769.210388875,745.210388875,719,684,669,641,884.789611125,787.210388875,817.210388875,654,630,655.210388875,0.407305870884,0.00460561469113,0.0498223390692,0.99999994316,0.000130771934146,-0.000307630454455,-4.40781598631e-05,1793250279464265216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.802028819,745.802028819,719,684,669,641,884.197971181,787.802028819,817.802028819,654,630,655.802028819,0.406756728229,0.00460865911823,0.0498048267361,0.999999933269,0.000129484857124,-0.000338685801598,-4.45894784096e-05,1793250279480931584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,745.615422314,719.384577686,684,669,641,884,788,817.615422314,654,630.384577686,656,0.406237678907,0.00461049615511,0.0497834655627,0.999999920948,0.000124017670252,-0.000375134293824,-4.46867986046e-05,1793250279497597952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,745.037445184,719.962554816,684,669,641,884,788,817.037445184,654,630.962554816,656,0.405733763105,0.00461172601042,0.0497601688528,0.999999906406,0.000116448356709,-0.00041429493557,-4.45759240623e-05,1793250279514264320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.464243547,745.535756453,719.464243547,684,668.464243547,640.464243547,884.535756453,788,817,654,630.464243547,656,0.405308726585,0.004613726521,0.0497651575795,0.999999908487,0.000124950640833,-0.000406731283017,-4.45299191953e-05,1793250279530930944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.112358617,745.887641383,719,683.887641383,668.112358617,640,885,787.887641383,817,654,630,656,0.404902409653,0.00461586894617,0.0497745766563,0.999999913643,0.000133485603373,-0.000391030335372,-4.46136979555e-05,1793250279547597312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769.704907736,745.295092264,719,683.295092264,668.704907736,640,885,787.295092264,817,654,630,656,0.404552741959,0.00461838971545,0.0497945556336,0.999999926743,0.00013740204801,-0.000354386033786,-4.52329315949e-05,1793250279564264192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.709398098,745.290601902,719.290601902,683.290601902,669,640.290601902,885,787,817,654.290601902,630,655.709398098,0.404212803733,0.00461801922152,0.0498190694934,0.999999939155,0.000138801758809,-0.000316892426214,-4.47563206612e-05,1793250279580930816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.130504428,745.869495572,719.869495572,683.869495572,669,640.869495572,885,787,817,654.869495572,630,655.130504428,0.403882517653,0.00461478044825,0.0498480821844,0.999999950789,0.000137704742237,-0.000278556266383,-4.31925765045e-05,1793250279597597696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.446829315,745.553170685,719.553170685,683.553170685,668.553170685,641,884.553170685,787,817,654.553170685,630,655.446829315,0.403567722557,0.00461441632175,0.049852831463,0.9999999511,0.000138458894743,-0.0002770899475,-4.30100655713e-05,1793250279614264576
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,745.023494048,719.023494048,683,668.023494048,641,884,787.023494048,817,654,630.023494048,656,0.403258297213,0.00461458608722,0.049849946096,0.999999948127,0.000139299549642,-0.000287182679443,-4.32284816496e-05,1793250279630931456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,745.595142887,719.595142887,683,668.595142887,641,884,787.595142887,817,654,630.595142887,656,0.402968962052,0.00460769152748,0.0498336977732,0.999999940545,0.00012958768804,-0.00031659454861,-4.34216248739e-05,1793250279647597824
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,745.833162552,720,683,669,641,884,788,817,654.166837448,630.833162552,656,0.402694223547,0.0045999306629,0.0498190939646,0.99999993388,0.00011359161935,-0.000342736624921,-4.32295315756e-05,1793250279664264448
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,745.261357094,720,683,669,641,884,788,817,654.738642906,630.261357094,656,0.402454915847,0.00459006699956,0.049808481922,0.999999930584,8.23417655227e-05,-0.00036094186103,-4.21023456676e-05,1793250279680931072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,745,719.674851902,683,668.674851902,641,884.325148098,787.674851902,817,655,630,656,0.40223911671,0.00458618385166,0.049801901261,0.999999928581,7.57958395599e-05,-0.000368015677286,-4.07109287723e-05,1793250279697597952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,745,719.075971382,683,668.075971382,641,884.924028618,787.075971382,817,655,630,656,0.4020431087,0.00458733551908,0.0497987144979,0.999999928307,9.00474053697e-05,-0.000365718287615,-3.90970636442e-05,1793250279714264832
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,745,719,683,668.503979429,641,884.496020571,787.503979429,817,654.496020571,630.503979429,656,0.401887587946,0.00459069494224,0.0498046263958,0.999999931885,9.90231237736e-05,-0.000353386105844,-3.92665180957e-05,1793250279730931712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,745.082645631,719,683,669,640.917354369,884,788,817,654,630.917354369,656,0.4017433448,0.00459348701157,0.0498120945771,0.9999999362,0.000105738746387,-0.000338891980629,-3.96351285587e-05,1793250279747598336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,745.670267177,719,683,669,640.329732823,884,788,817,654,630.329732823,656,0.401632068064,0.00459085261183,0.0498209948264,0.999999942645,0.000103328343216,-0.000320096140888,-3.96375260523e-05,1793250279764264960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,745.745980184,719,683,669,640.254019816,884,787.745980184,817,654,630,656,0.401526313074,0.00459037796661,0.0498282627892,0.999999946696,0.000104227426813,-0.000306863994426,-3.97460190089e-05,1793250279780931328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745.167174308,719,683,669,640.832825692,884,787.167174308,817,654,630,656,0.401427618112,0.00459266475241,0.0498334437338,0.999999947997,0.000109357972477,-0.000300745506903,-3.9990164101e-05,1793250279797597696
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,745,719,683,669,640.589971182,884,787.410028818,817,654.410028818,630,656,0.401339375792,0.00459368329783,0.0498333984385,0.999999948111,0.000110199860816,-0.000300022909427,-4.02466293279e-05,1793250279814264576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,745,719,683,669,640.013418987,884,787.986581013,817,654.986581013,630,656,0.401255378565,0.00459418677778,0.0498312306311,0.999999947758,0.000109300013658,-0.000301491723507,-4.05080980769e-05,1793250279830931200
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.437949515,745.562050485,719.562050485,683.562050485,669,640.562050485,884,788,816.437949515,654.437949515,630,655.437949515,0.401193722998,0.0045931127552,0.0498293531187,0.999999947432,0.000108531075203,-0.000302828004574,-4.06414611291e-05,1793250279847597824
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.140332282,745.859667718,720,683.859667718,669,641,884,787.859667718,816.140332282,654,630.140332282,655.140332282,0.40113858296,0.00459254922633,0.0498287138156,0.999999947629,0.000108345874852,-0.000302232761891,-4.07127586167e-05,1793250279864264704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.727654026,745.272345974,720,683.272345974,669,641,884,787.272345974,816.727654026,654,630.727654026,655.727654026,0.401102500583,0.00459373146764,0.0498319964502,0.999999949466,0.00011001007394,-0.000295495246534,-4.05960868489e-05,1793250279880931328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.687684942,745.312315058,719.687684942,683,669,641,884,787,817,654.312315058,631,655.687684942,0.401073153677,0.00459379280116,0.049835713518,0.999999951581,0.000110394769497,-0.000288129118434,-4.04047505215e-05,1793250279897597952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769.105324447,745.894675553,719.105324447,683,669,641,884,787,817,654.894675553,631,655.105324447,0.40104963064,0.00459288493393,0.0498398062218,0.999999953918,0.000109673133409,-0.000280219455096,-4.01488549377e-05,1793250279914264832
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.470272582,745.529727418,719.470272582,683,669,641,884,787.470272582,817,654.529727418,631,655.470272582,0.401028863566,0.00459278890885,0.0498401761829,0.999999954252,0.000109329706275,-0.000279153732403,-4.02100859221e-05,1793250279930931200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,745,720,683,668.955402575,640.955402575,884,787.955402575,817,654.044597425,630.955402575,655.955402575,0.40100943667,0.00459289538103,0.0498397601501,0.999999954152,0.000109131166356,-0.00027956896033,-4.03417096985e-05,1793250279947597824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,745,720,683,668.378437807,640.378437807,884,787.378437807,817,654.621562193,630.378437807,655.378437807,0.400998744093,0.00459327940696,0.0498397732314,0.999999954073,0.000109665362732,-0.000279624663069,-4.04778057633e-05,1793250279964264448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769.797527508,745,719.797527508,683,668.202472492,640.202472492,884,787.202472492,816.797527508,654.797527508,630,655.202472492,0.400991106413,0.00459346200528,0.0498404466661,0.999999954415,0.000110417881041,-0.000278079878568,-4.0604597735e-05,1793250279980931072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.209096158,745,719.209096158,683,668.790903842,640.790903842,884,787.790903842,816.209096158,654.209096158,630,655.790903842,0.400989292066,0.00459326063654,0.0498423788855,0.999999955549,0.000111586570832,-0.00027348419949,-4.07136539695e-05,1793250279997597696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.372040775,745.372040775,719,683,669,640.627959225,884,788,816.372040775,654.372040775,630,656,0.400986949213,0.00459291950854,0.0498436847654,0.999999956302,0.000110018766385,-0.000271355577051,-4.07094893723e-05,1793250280014265088
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.94915688,745.94915688,719,683,669,640.05084312,884,788,816.94915688,654.94915688,630,656,0.400984315039,0.00459250134282,0.0498446453961,0.999999956847,0.0001069425588,-0.000270586839186,-4.06429154847e-05,1793250280030932480
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,745.474233405,719.525766595,683,669,640,884,787.474233405,816.474233405,654.474233405,630,656,0.400983035715,0.00459229824637,0.0498449170792,0.999999957019,0.000108326325138,-0.000269445988554,-4.03153351904e-05,1793250280047598592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,745.101083517,719.898916483,683,668.898916483,640.101083517,884,787,816.101083517,654,630.101083517,655.898916483,0.400981760089,0.00459224180472,0.049844798483,0.999999957047,0.000109677781446,-0.000268840287188,-4.00281620911e-05,1793250280064264960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,745.670635579,719.329364421,683,668.329364421,640.670635579,884,787,816.670635579,654,630.670635579,655.329364421,0.40097989499,0.00459276873641,0.0498431796151,0.999999956582,0.000108882610168,-0.000270881327463,-4.00451167874e-05,1793250280080931584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.747266137,745.747266137,719.252733863,683,668,640.747266137,884,787,817,654,630.747266137,655.252733863,0.400979293171,0.00459267808072,0.0498428989345,0.999999956663,0.00010737716713,-0.000271184357644,-4.00497388815e-05,1793250280097597952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769.147963387,745.147963387,719.852036613,683,668,640.147963387,884,787,817,654,630.147963387,655.852036613,0.400980423664,0.0045917405399,0.049844453283,0.999999957488,0.000104897742533,-0.000269104089671,-4.00374495273e-05,1793250280114264832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745.43453155,719.56546845,682.56546845,668.43453155,640.43453155,884,787.43453155,817,654,630,656,0.400982230875,0.0045910037082,0.0498466638707,0.999999958201,0.00010489497672,-0.000266468354043,-3.98732724505e-05,1793250280130931200
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745.988585145,719,682.011414855,669,640.988585145,884,788,817,654,630,656,0.400984183891,0.00459038897127,0.0498490216689,0.999999958851,0.000105727909377,-0.000263715576089,-3.96698651237e-05,1793250280147597568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745.416683721,719,682.583316279,669,640.416683721,884,788,817,654,630,656,0.400982403021,0.00459253844819,0.0498480442258,0.999999958508,0.000107728036955,-0.000264157217193,-3.998513467e-05,1793250280164264448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.160442302,745,719.160442302,683,668.839557698,640.160442302,884,788,817,654,630,656,0.400981347962,0.00459369735029,0.0498473435809,0.999999958317,0.000108894498876,-0.000264379716379,-4.01380848657e-05,1793250280180931328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769.751593786,745,719.751593786,683,668.248406214,640.751593786,884,788,817,654,630,656,0.400982241347,0.00459219704296,0.049847386004,0.999999958541,0.000107822975766,-0.00026401392658,-3.98552869045e-05,1793250280197598464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,745.335967344,719.664032656,682.664032656,668.335967344,641,884,788,817,654,630,656,0.40098245883,0.00459176339612,0.0498475328336,0.999999958604,0.000107589434373,-0.00026388580549,-3.97477239668e-05,1793250280214264832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,745.915428544,719.084571456,682.084571456,668.915428544,641,884,788,817,654,630,656,0.40098218645,0.00459210281639,0.0498477553323,0.999999958552,0.000107963224079,-0.000263929935892,-3.97671634194e-05,1793250280230930944
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ea1398c5e5aa147ebc6b7f1ac43c688b9b51315
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+231,3.850000000,pose1_to_pose2_press,0.618546264392,0.0101501624247,1.04003330254,0.589116941612,0.0188227937758,1.03970470605
+232,3.866666667,pose1_to_pose2_press,0.618546685054,0.0101501454012,1.04003335549,0.58911736246,0.0188227772963,1.03970475693
+233,3.883333333,pose1_to_pose2_press,0.618547055103,0.0101501304259,1.04003340208,0.589117732671,0.0188227627997,1.0397048017
+234,3.900000000,pose1_to_pose2_press,0.618547497511,0.0101501125224,1.04003345778,0.589118175273,0.0188227454685,1.03970485522
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+237,3.950000000,pose1_to_pose2_press,0.618548101649,0.0101501260454,1.04003349627,0.589118779234,0.0188227582971,1.03970489142
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+239,3.983333333,pose1_to_pose2_press,0.618548598136,0.0101502333723,1.04003343273,0.589119274452,0.0188228613138,1.0397048277
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+241,4.016666667,pose1_to_pose2_press,0.618548944917,0.0101502224021,1.04003340304,0.589119621296,0.0188228505326,1.03970479737
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+262,4.366666667,pose2_to_pose3_retreat,0.618549226455,0.0101500309255,1.04003336727,0.589119906603,0.0188226720983,1.03970476847
+263,4.383333333,pose2_to_pose3_retreat,0.618549217101,0.0101500350895,1.04003338631,0.589119896454,0.0188226734268,1.03970478382
+264,4.400000000,pose2_to_pose3_retreat,0.618549151529,0.0101500806296,1.0400334136,0.589119829467,0.0188227139798,1.03970480622
+265,4.416666667,pose2_to_pose3_retreat,0.618549151414,0.0101500807161,1.04003341361,0.589119829351,0.0188227140634,1.03970480622
+266,4.433333333,pose2_to_pose3_retreat,0.618549070849,0.0101501411042,1.04003341832,0.589119748175,0.0188227723631,1.03970481064
+267,4.450000000,pose2_to_pose3_retreat,0.618548931485,0.0101502455658,1.04003342648,0.589119607753,0.018822873212,1.03970481828
+268,4.466666667,pose2_to_pose3_retreat,0.618548123378,0.0101502346916,1.0400335971,0.589118799722,0.0188228624431,1.03970498469
+269,4.483333333,pose2_to_pose3_retreat,0.618546210104,0.0101501381017,1.04003360008,0.589116887565,0.018822769681,1.03970498877
+270,4.500000000,pose2_to_pose3_retreat,0.618540250794,0.0101501621935,1.04003362656,0.58911092801,0.0188227931564,1.03970502171
+271,4.516666667,pose2_to_pose3_retreat,0.618528566926,0.0101500854739,1.04003351058,0.589099244684,0.0188227181262,1.0397049017
+272,4.533333333,pose2_to_pose3_retreat,0.618507349894,0.0101501088556,1.04003338033,0.589078027041,0.0188227397733,1.03970477946
+273,4.550000000,pose2_to_pose3_retreat,0.618476379561,0.0101501770507,1.04003354204,0.589047056483,0.018822806698,1.03970492907
+274,4.566666667,pose2_to_pose3_retreat,0.618435598162,0.010149831867,1.04003326185,0.58900627963,0.0188224776276,1.03970466433
+275,4.583333333,pose2_to_pose3_retreat,0.618386215031,0.0101501592313,1.04003355366,0.588956892581,0.0188227912038,1.03970494585
+276,4.600000000,pose2_to_pose3_retreat,0.618328249013,0.0101500809205,1.0400335797,0.588898927928,0.0188227175313,1.03970497596
+277,4.616666667,pose2_to_pose3_retreat,0.618265151198,0.0101499868127,1.04003342201,0.588835830182,0.0188226234857,1.03970481901
+278,4.633333333,pose2_to_pose3_retreat,0.618196830348,0.0101500391706,1.04003361614,0.58876750914,0.018822675224,1.03970501349
+279,4.650000000,pose2_to_pose3_retreat,0.618119656682,0.010150001994,1.04003353514,0.588690336994,0.0188226433493,1.03970493266
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+281,4.683333333,pose2_to_pose3_retreat,0.617935705852,0.0101501069027,1.04003327803,0.588506382953,0.0188227373033,1.03970467431
+282,4.700000000,pose2_to_pose3_retreat,0.617824063186,0.0101500523769,1.04003356065,0.588394741109,0.0188226852441,1.03970494968
+283,4.716666667,pose2_to_pose3_retreat,0.617696224403,0.0101501141783,1.04003366204,0.588266903099,0.018822749551,1.03970505
+284,4.733333333,pose2_to_pose3_retreat,0.617553449314,0.0101499923325,1.04003366578,0.588124129091,0.0188226313094,1.03970505359
+285,4.750000000,pose2_to_pose3_retreat,0.617396343335,0.0101501473718,1.04003368234,0.587967022113,0.0188227828181,1.03970506783
+286,4.766666667,pose2_to_pose3_retreat,0.617224450074,0.0101501303468,1.04003351658,0.587795129461,0.0188227682142,1.03970491235
+287,4.783333333,pose2_to_pose3_retreat,0.617037534069,0.0101500371365,1.04003341164,0.587608214555,0.0188226788993,1.03970481357
+288,4.800000000,pose2_to_pose3_retreat,0.616832896327,0.0101500574752,1.04003355236,0.58740357584,0.0188226954387,1.03970494439
+289,4.816666667,pose2_to_pose3_retreat,0.616609426477,0.010150146538,1.04003364767,0.58718010138,0.0188227686891,1.039705037
+290,4.833333333,pose2_to_pose3_retreat,0.616366573357,0.0101500966979,1.0400333829,0.586937252931,0.0188227352929,1.03970478893
+291,4.850000000,pose2_to_pose3_retreat,0.616108079701,0.0101501532928,1.04003346602,0.5866787566,0.0188227824002,1.03970486427
+292,4.866666667,pose2_to_pose3_retreat,0.6158362067,0.0101501704873,1.04003360112,0.586406882856,0.0188227966427,1.03970499033
+293,4.883333333,pose2_to_pose3_retreat,0.615551051238,0.0101500762264,1.0400337464,0.586121729682,0.0188227099604,1.03970513239
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+295,4.916666667,pose2_to_pose3_retreat,0.614926682863,0.0101500509544,1.04003353692,0.585497362767,0.0188226899424,1.03970493392
+296,4.933333333,pose2_to_pose3_retreat,0.614576490916,0.0101500810529,1.0400336153,0.585147169644,0.0188227157511,1.03970500732
+297,4.950000000,pose2_to_pose3_retreat,0.614198548323,0.0101500111395,1.04003364178,0.58476922766,0.0188226478559,1.03970503487
+298,4.966666667,pose2_to_pose3_retreat,0.613795055772,0.0101500027358,1.04003358898,0.584365735843,0.0188226419001,1.03970498259
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+304,5.066666667,pose2_to_pose3_retreat,0.611020147949,0.0101500983536,1.04003366413,0.581590826818,0.0188227332238,1.03970505321
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+307,5.116666667,pose2_to_pose3_retreat,0.609403326093,0.0101501448815,1.04003343464,0.579974001734,0.0188227687704,1.039704823
+308,5.133333333,pose2_to_pose3_retreat,0.608836223537,0.0101500829613,1.04003360946,0.579406900879,0.0188227127027,1.03970499987
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+320,5.333333333,pose2_to_pose3_retreat,0.600733392632,0.0101501855915,1.0400333924,0.571304070907,0.0188228190219,1.03970479519
+321,5.350000000,pose2_to_pose3_retreat,0.600002578873,0.0101501221347,1.04003362889,0.570573258408,0.0188227595837,1.0397050248
+322,5.366666667,pose2_to_pose3_retreat,0.599265956927,0.010150111397,1.04003364169,0.569836634597,0.0188227423938,1.03970503433
+323,5.383333333,pose2_to_pose3_retreat,0.598521824227,0.0101500936749,1.04003357268,0.569092503271,0.0188227293094,1.03970496457
+324,5.400000000,pose2_to_pose3_retreat,0.597764048341,0.0101500522544,1.04003352653,0.568334727591,0.0188226886493,1.03970492
+325,5.416666667,pose2_to_pose3_retreat,0.597009042699,0.0101500524166,1.04003347378,0.567579721671,0.0188226878733,1.03970486737
+326,5.433333333,pose2_to_pose3_retreat,0.596268172857,0.0101501075931,1.04003342163,0.566838852222,0.0188227442487,1.03970481158
+327,5.450000000,pose2_to_pose3_retreat,0.595535389258,0.0101501491201,1.04003343436,0.566106068678,0.0188227858029,1.03970482003
+328,5.466666667,pose2_to_pose3_retreat,0.594811206472,0.0101501246963,1.04003340269,0.565381885151,0.0188227591585,1.03970479611
+329,5.483333333,pose2_to_pose3_retreat,0.594091420034,0.0101501522567,1.04003357493,0.564662098553,0.0188227862974,1.0397049715
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+331,5.516666667,pose2_to_pose3_retreat,0.592645382138,0.0101500318758,1.04003357613,0.563216060874,0.0188226660839,1.03970495758
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+333,5.550000000,pose2_to_pose3_retreat,0.591182985848,0.0101501921057,1.04003347315,0.56175366386,0.0188228245093,1.03970487177
+334,5.566666667,pose2_to_pose3_retreat,0.590466899465,0.0101501148029,1.04003335371,0.561037578788,0.018822752102,1.039704764
+335,5.583333333,pose2_to_pose3_retreat,0.589767626921,0.0101501798107,1.04003366132,0.560338305007,0.0188228120587,1.0397050491
+336,5.600000000,pose2_to_pose3_retreat,0.589086467214,0.010150056643,1.04003348302,0.559657146016,0.0188226913056,1.03970487033
+337,5.616666667,pose2_to_pose3_retreat,0.588423556076,0.010150156964,1.04003349631,0.558994234017,0.0188227888178,1.03970488659
+338,5.633333333,pose2_to_pose3_retreat,0.587778794559,0.0101501043264,1.04003344832,0.55834947409,0.0188227417958,1.03970484436
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+341,5.683333333,pose2_to_pose3_retreat,0.585891947087,0.0101500719933,1.04003350242,0.556462626797,0.0188227101184,1.03970490039
+342,5.700000000,pose2_to_pose3_retreat,0.585290279409,0.0101501602378,1.04003337161,0.555860957759,0.0188227939935,1.03970477619
+343,5.716666667,pose2_to_pose3_retreat,0.584705274381,0.0101501649389,1.04003359113,0.555275952326,0.0188227968813,1.03970498404
+344,5.733333333,pose2_to_pose3_retreat,0.584138585473,0.0101501400958,1.04003363452,0.554709263447,0.0188227721995,1.03970502905
+345,5.750000000,pose2_to_pose3_retreat,0.583591368859,0.0101500833861,1.04003351282,0.554162048112,0.0188227199192,1.03970490972
+346,5.766666667,pose2_to_pose3_retreat,0.583060311378,0.0101501018571,1.04003347591,0.553630990651,0.018822738331,1.0397048697
+347,5.783333333,pose2_to_pose3_retreat,0.582549613623,0.0101502078693,1.04003361751,0.553120290191,0.0188228350915,1.03970500981
+348,5.800000000,pose2_to_pose3_retreat,0.582063516672,0.0101500277002,1.04003347947,0.552634194389,0.0188226592096,1.03970488202
+349,5.816666667,pose2_to_pose3_retreat,0.581599453982,0.0101501324204,1.04003362804,0.552170132419,0.0188227660569,1.03970502122
+350,5.833333333,pose2_to_pose3_retreat,0.581154405405,0.0101501929161,1.04003346891,0.551725081637,0.0188228191658,1.03970486439
+351,5.850000000,pose2_to_pose3_retreat,0.580720513274,0.0101501376643,1.0400335185,0.551291190743,0.0188227682152,1.03970491667
+352,5.866666667,pose2_to_pose3_retreat,0.580295942071,0.0101501172605,1.04003365355,0.550866620157,0.0188227497084,1.03970504657
+353,5.883333333,pose2_to_pose3_retreat,0.579888615489,0.0101501718334,1.04003365929,0.550459292431,0.0188228002899,1.03970504968
+354,5.900000000,pose2_to_pose3_retreat,0.579502493269,0.0101501538798,1.04003360362,0.550073172097,0.0188227892259,1.03970500704
+355,5.916666667,pose2_to_pose3_retreat,0.579148638736,0.0101501274633,1.04003360406,0.549719318396,0.0188227655924,1.03970500661
+356,5.933333333,pose2_to_pose3_retreat,0.578823472519,0.0101501500424,1.04003352638,0.549394151359,0.0188227851439,1.03970492258
+357,5.950000000,pose2_to_pose3_retreat,0.578526378959,0.0101501689181,1.04003342141,0.549097056758,0.0188228005263,1.03970481868
+358,5.966666667,pose2_to_pose3_retreat,0.578246968316,0.0101501580358,1.0400334371,0.548817646236,0.0188227901485,1.0397048365
+359,5.983333333,pose2_to_pose3_retreat,0.577983208918,0.0101501457517,1.04003350724,0.548553886827,0.0188227777417,1.03970490417
+360,6.000000000,pose2_to_pose3_retreat,0.577729361902,0.0101500978631,1.04003355657,0.548300039697,0.0188227291627,1.03970494564
+361,6.016666667,pose2_to_pose3_retreat,0.577486090921,0.0101498168968,1.04003364598,0.54805677356,0.0188224646288,1.03970503476
+362,6.033333333,pose2_to_pose3_retreat,0.577257489122,0.010150214515,1.0400333939,0.547828166787,0.0188228458199,1.03970479473
+363,6.050000000,pose2_to_pose3_retreat,0.577044817413,0.0101499863098,1.04003359389,0.547615498047,0.0188226275453,1.03970499074
+364,6.066666667,pose2_to_pose3_retreat,0.576850498411,0.0101500481247,1.04003376553,0.547421177039,0.0188226821907,1.0397051529
+365,6.083333333,pose2_to_pose3_retreat,0.576677759043,0.010150118098,1.04003364891,0.547248436184,0.0188227469908,1.03970503302
+366,6.100000000,pose2_to_pose3_retreat,0.576525967132,0.010150061588,1.04003353468,0.547096645457,0.0188226947808,1.03970492628
+367,6.116666667,pose2_to_pose3_retreat,0.576394783558,0.0101500630514,1.04003351304,0.546965462434,0.0188226983014,1.03970490953
+368,6.133333333,pose2_to_pose3_retreat,0.576281346954,0.0101501569899,1.04003352263,0.54685202486,0.0188227888634,1.03970491692
+369,6.150000000,pose2_to_pose3_retreat,0.576183523513,0.0101501475178,1.04003351967,0.546754201823,0.0188227807932,1.03970491476
+370,6.166666667,pose2_to_pose3_retreat,0.576096470478,0.0101500983379,1.04003327943,0.546667148787,0.018822731915,1.03970468317
+371,6.183333333,pose2_to_pose3_retreat,0.576019218738,0.0101500785378,1.04003333661,0.546589896504,0.0188227100621,1.03970473486
+372,6.200000000,pose2_to_pose3_retreat,0.575950037033,0.0101500728754,1.04003347401,0.546520716342,0.0188227093298,1.03970486406
+373,6.216666667,pose2_to_pose3_retreat,0.575888978166,0.010150072228,1.04003350499,0.546459658364,0.0188227116311,1.03970489321
+374,6.233333333,pose2_to_pose3_retreat,0.575837894986,0.0101500791337,1.04003345679,0.546408572968,0.0188227111846,1.03970484946
+375,6.250000000,pose2_to_pose3_retreat,0.57579636477,0.0101501045248,1.04003363891,0.546367043092,0.0188227376841,1.03970503033
+376,6.266666667,pose2_to_pose3_retreat,0.57576449025,0.0101500705887,1.04003346499,0.546335169079,0.0188227053562,1.0397048536
+377,6.283333333,pose2_to_pose3_retreat,0.575739145485,0.0101500195717,1.04003341481,0.546309824956,0.0188226566309,1.03970480639
+378,6.300000000,pose2_to_pose3_retreat,0.575719403432,0.0101500168504,1.04003345318,0.546290083212,0.0188226549816,1.03970484544
+379,6.316666667,pose2_to_pose3_retreat,0.575703656157,0.0101500589459,1.04003353273,0.546274335816,0.0188226965797,1.03970492276
+380,6.333333333,pose2_to_pose3_retreat,0.575691537593,0.0101500786411,1.0400335286,0.546262216475,0.0188227136823,1.03970491991
+381,6.350000000,pose2_to_pose3_retreat,0.575682698126,0.0101500850618,1.04003357853,0.54625337741,0.0188227216389,1.03970497452
+382,6.366666667,pose2_to_pose3_retreat,0.575676648099,0.0101500817881,1.0400335925,0.546247327352,0.0188227183277,1.03970499021
+383,6.383333333,pose2_to_pose3_retreat,0.575673139255,0.0101500705043,1.04003354679,0.54624381761,0.0188227038965,1.03970494158
+384,6.400000000,pose2_to_pose3_retreat,0.575670965875,0.0101500696656,1.04003352138,0.546241643892,0.0188227018724,1.039704915
+385,6.416666667,pose2_to_pose3_retreat,0.575669737885,0.0101500887564,1.0400335163,0.546240416406,0.0188227227246,1.03970491127
+386,6.433333333,pose2_to_pose3_retreat,0.575668503226,0.010150107951,1.04003351119,0.546239182255,0.01882274369,1.03970490752
+387,6.450000000,pose2_to_pose3_retreat,0.575667497317,0.0101501235892,1.04003350703,0.546238176759,0.018822760771,1.03970490446
+388,6.466666667,pose2_to_pose3_retreat,0.575667028284,0.0101501358191,1.04003349361,0.546237707553,0.018822772415,1.03970489102
+389,6.483333333,pose2_to_pose3_retreat,0.575666938395,0.0101501390702,1.04003348892,0.546237617565,0.0188227753226,1.03970488623
+390,6.500000000,pose2_to_pose3_retreat,0.575666667694,0.010150148861,1.04003347482,0.546237346562,0.0188227840788,1.03970487183
+391,6.516666667,pose2_to_pose3_retreat,0.575666387585,0.0101501589919,1.04003346023,0.546237066141,0.0188227931393,1.03970485692
+392,6.533333333,pose2_to_pose3_retreat,0.575666158096,0.0101501672921,1.04003344828,0.546236836397,0.0188228005624,1.03970484471
+393,6.550000000,pose2_to_pose3_retreat,0.575665955089,0.0101501746345,1.0400334377,0.546236633163,0.018822807129,1.03970483391
+394,6.566666667,pose2_to_pose3_retreat,0.57566592963,0.0101501755553,1.04003343637,0.546236607676,0.0188228079525,1.03970483255
+395,6.583333333,pose2_to_pose3_retreat,0.575665706546,0.0101501836238,1.04003342475,0.546236384344,0.0188228151684,1.03970482068
+396,6.600000000,pose2_to_pose3_retreat,0.575665553323,0.0101501891655,1.04003341677,0.54623623095,0.0188228201246,1.03970481253
+397,6.616666667,pose2_to_pose3_retreat,0.575665383051,0.0101501953239,1.0400334079,0.546236060489,0.0188228256323,1.03970480346
+398,6.633333333,pose2_to_pose3_retreat,0.575665106849,0.0101501406843,1.04003339946,0.546235785141,0.0188227738879,1.03970479486
+399,6.650000000,pose2_to_pose3_retreat,0.575664805787,0.0101500659424,1.04003339167,0.546235485285,0.0188227032299,1.03970478691
+400,6.666666667,pose2_to_pose3_retreat,0.575664559823,0.0101500048792,1.0400333853,0.546235240305,0.0188226455032,1.03970478042
+401,6.683333333,pose2_to_pose3_retreat,0.575664513696,0.010150006483,1.04003341035,0.546235194176,0.0188226470676,1.03970480462
+402,6.700000000,pose2_to_pose3_retreat,0.575664433762,0.010150085656,1.04003360736,0.546235113146,0.0188227222807,1.03970499529
+403,6.716666667,pose2_to_pose3_retreat,0.575664381248,0.0101501376705,1.04003373679,0.546235059912,0.0188227716936,1.03970512055
+404,6.733333333,pose2_to_pose3_retreat,0.575664336099,0.0101501223932,1.04003375488,0.546235014435,0.0188227552308,1.03970513667
+405,6.750000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c3041a34aaa8077e5c8eae92afa38f41c677819
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25fb77b3eaebe533f905eb5234f04905140ff3d450d785afd8ad6f911f695cdb
+size 25905611
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a76a1107676513b9b0751f350bb10ae547693ff4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,769.798923146,745,719.798923146,683,669,641,884,788,817,654.201076854,630,656,0.400982278479,0.00458888029884,0.0498513147722,0.999999960559,0.000105280343576,-0.000257444554394,-3.9003314804e-05,1793250280842351360
+22,0.366666667,BASELINE,769.219138817,745,719.219138817,683,669,641,884,788,817,654.780861183,630,656,0.400983574709,0.00459013762465,0.0498520505625,0.999999960734,0.000107367741409,-0.000255937892031,-3.87209511247e-05,1793250280859017984
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+25,0.416666667,BASELINE,769.518987923,745,719.518987923,683,669,640.481012077,884,787,817,654.518987923,630.481012077,655.518987923,0.400981359974,0.00458944646541,0.0498509575708,0.999999960356,0.00010513686169,-0.000258279221025,-3.90592463e-05,1793250280909017600
+26,0.433333333,BASELINE,770,745,720,682.893398109,669,640.106601891,884,787,816.893398109,654.893398109,630,655.893398109,0.400980573434,0.00458946782501,0.0498507739942,0.999999960078,0.000106170165474,-0.000258918183971,-3.91449681705e-05,1793250280925684224
+27,0.450000000,BASELINE,770,745,720,682.314552335,669,640.685447665,884,787,816.314552335,654.314552335,630,655.314552335,0.400981335483,0.00458986876758,0.049850942674,0.999999960158,0.000105717248467,-0.000258800829345,-3.91276166437e-05,1793250280942350848
+28,0.466666667,BASELINE,770,745,720,682.263786395,669,641,884,787.263786395,816.263786395,654.263786395,630,655.263786395,0.400982040952,0.00458998648215,0.0498510396664,0.999999960299,0.000105328547162,-0.000258413318055,-3.91159831311e-05,1793250280959017472
+29,0.483333333,BASELINE,770,745,720,682.841521627,669,641,884,787.841521627,816.841521627,654.841521627,630,655.841521627,0.400982679079,0.00458976710919,0.0498510513393,0.999999960515,0.000105016273039,-0.000257704276272,-3.91111549888e-05,1793250280975684096
+30,0.500000000,BASELINE,769.583286984,745,719.583286984,683,669,641,884,788,817,654.583286984,630.416713016,656,0.400982276042,0.00458932266201,0.049851093332,0.999999960428,0.000105785155933,-0.000257734508308,-3.90645704114e-05,1793250280992350720
+31,0.516666667,BASELINE,769.009057177,745,719.009057177,683,669,641,884,788,817,654.009057177,630.990942823,656,0.400981479446,0.00458879313717,0.0498511467856,0.999999960226,0.000106962714294,-0.00025804418457,-3.90022019745e-05,1793250281009017600
+32,0.533333333,BASELINE,769,745.579397162,719,683,669,640.420602838,884,788,817,654.579397162,630.420602838,656,0.400980507712,0.00459053603903,0.0498504851343,0.999999959932,0.000107073751327,-0.000259089145481,-3.93053124855e-05,1793250281025683968
+33,0.550000000,BASELINE,769,746,719,683,669,640,884,787.834766216,817,654.834766216,630,656,0.400980417594,0.00459174213529,0.0498503928218,0.999999959907,0.000107477221734,-0.000258995987163,-3.94461266261e-05,1793250281042350848
+34,0.566666667,BASELINE,769,746,719,683,669,640,884,787.256050705,817,654.256050705,630,656,0.40098254066,0.00459151379715,0.0498517539027,0.999999960556,0.000108655248597,-0.000256025307673,-3.91661530462e-05,1793250281059017728
+35,0.583333333,BASELINE,769.322068351,745.677931649,719,682.677931649,669,640.322068351,884,787,817,654,630,655.677931649,0.400983181679,0.00459108234961,0.0498522259825,0.999999960818,0.000108015709802,-0.000255301445654,-3.89503853227e-05,1793250281075684352
+36,0.600000000,BASELINE,769.899714152,745.100285848,719,682.100285848,669,640.899714152,884,787,817,654,630,655.100285848,0.400982646619,0.00459048972453,0.0498519925952,0.999999960776,0.000105933841282,-0.00025636054609,-3.87855681487e-05,1793250281092351232
+37,0.616666667,BASELINE,769.529323137,745,719,682.470676863,669,641,884,787.470676863,817,654,630,655.470676863,0.400981613113,0.00459021722061,0.0498508426267,0.99999996029,0.000105668068172,-0.000258345348386,-3.88907088424e-05,1793250281109017856
+38,0.633333333,BASELINE,769.042162656,745,719.042162656,683.042162656,669,640.957837344,884,787.957837344,817,654,630,656,0.40098054391,0.00458997281438,0.0498496086255,0.999999959786,0.000105595065361,-0.000260297274541,-3.9032618183e-05,1793250281125684736
+39,0.650000000,BASELINE,769.639001036,745,719.639001036,683.639001036,669,640.360998964,884,787.360998964,817,654,630,656,0.400980382695,0.00458921330297,0.0498498023583,0.999999960327,0.000103038770414,-0.000259258252156,-3.89121353167e-05,1793250281142351360
+40,0.666666667,BASELINE,770,745,720,683.772506588,669,640.227493412,884,787,817,654,630,656,0.400980337976,0.00458928157882,0.0498499017948,0.999999960458,0.000102772546844,-0.000258865324995,-3.88607777021e-05,1793250281159018240
+41,0.683333333,BASELINE,770,745,720,683.19678946,669,640.80321054,884,787,817,654,630,656,0.400980471577,0.00459061694704,0.0498498568922,0.999999959963,0.000106011731165,-0.000259461374584,-3.89152299812e-05,1793250281175684608
+42,0.700000000,BASELINE,769.621053147,745,720,682.621053147,669.378946853,641,884,787.378946853,817,654,630,656,0.400981358033,0.00459052257512,0.0498506736639,0.999999960089,0.000106987581115,-0.00025855954302,-3.90277531755e-05,1793250281192351232
+43,0.716666667,BASELINE,769.045306889,745,720,682.045306889,669.954693111,641,884,787.954693111,817,654,630,656,0.400982635472,0.00458968569268,0.0498519379309,0.999999960537,0.00010678800793,-0.000256879813116,-3.91704344801e-05,1793250281209017856
+44,0.733333333,BASELINE,769.541962733,745.541962733,720,682.541962733,669.458037267,641,884,788,817,654.541962733,630,656,0.400983013071,0.00458924036336,0.0498515969836,0.999999960823,0.000105591539122,-0.000256282858152,-3.90373043199e-05,1793250281225684480
+45,0.750000000,BASELINE,769.87182259,745.87182259,719.87182259,683.12817741,669,641,884,788,817,654.87182259,630,656,0.400982905815,0.00458924129781,0.0498512113284,0.999999960893,0.000105117753994,-0.000256224380061,-3.89126939727e-05,1793250281242351104
+46,0.766666667,BASELINE,769.29278094,745.29278094,719.29278094,683.70721906,669,641,884,788,817,654.29278094,630,656,0.400981363435,0.00459069432629,0.0498511506888,0.999999960253,0.000107485520934,-0.000257734682655,-3.89009178733e-05,1793250281259017728
+47,0.783333333,BASELINE,769.285071491,745,719.285071491,683.714928509,669.285071491,641,884,788,817,654,630,656,0.400981212827,0.00459195056045,0.0498514029201,0.99999996006,0.000108800202197,-0.000257927995822,-3.8927289967e-05,1793250281275684608
+48,0.800000000,BASELINE,769.861707685,745,719.861707685,683.138292315,669.861707685,641,884,788,817,654,630,656,0.400982485694,0.00459300551798,0.0498519751487,0.999999960329,0.000109037811427,-0.000256774322037,-3.89926791722e-05,1793250281292351232
+49,0.816666667,BASELINE,770,745,719.562309599,683,669.562309599,641,884.437690401,788,817,654.437690401,630,656,0.400982528297,0.00459173508583,0.0498517633529,0.999999960404,0.000107739852771,-0.000257039475088,-3.89086120274e-05,1793250281309017600
+50,0.833333333,BASELINE,770,745.013746673,719,683,669,641,884.986253327,787.986253327,817,654.986253327,630,656,0.400982178399,0.00458977057978,0.0498513103566,0.99999996042,0.000105972131192,-0.000257733399215,-3.87772313767e-05,1793250281325684480
+51,0.850000000,BASELINE,770,745.601484096,719,683,669,641,884.398515904,787.398515904,817,654.398515904,630,656,0.400981646184,0.00458945785266,0.0498511141453,0.999999960571,0.00010481780938,-0.000257640160994,-3.86390947225e-05,1793250281342351104
+52,0.866666667,BASELINE,770,745.812761416,719.187238584,683,669.187238584,641,884,787,817,654,630,655.812761416,0.4009817243,0.00458947581058,0.0498513081181,0.99999996074,0.000104916295268,-0.000256940974806,-3.86529525488e-05,1793250281359017728
+53,0.883333333,BASELINE,770,745.231183184,719.768816816,683,669.768816816,641,884,787,817,654,630,655.231183184,0.400983087823,0.00459019021802,0.0498523238502,0.999999960942,0.000107653295875,-0.000254965613045,-3.8986923089e-05,1793250281375684352
+54,0.900000000,BASELINE,770,745,719.653473419,683,669.653473419,641,884,787.346526581,816.653473419,654,630.346526581,655.346526581,0.400982981536,0.00458942536378,0.0498521694037,0.999999960968,0.000106757976456,-0.00025523129228,-3.90220705615e-05,1793250281392351232
+55,0.916666667,BASELINE,770,745,719.078316008,683,669.078316008,641,884,787.921683992,816.078316008,654,630.921683992,655.921683992,0.4009819055,0.00458768452429,0.0498512428984,0.999999960874,0.000103466129839,-0.000256975562524,-3.88600609495e-05,1793250281409017856
+56,0.933333333,BASELINE,770,745,719,683,669.491556305,641,884.491556305,787.508443695,816.491556305,654,631,656,0.4009820477,0.00458940741565,0.0498516769626,0.999999960713,0.000105923821763,-0.000256602116524,-3.88445018319e-05,1793250281425685248
+57,0.950000000,BASELINE,770,745.063629625,719,683,669.936370375,641,884.936370375,787.063629625,817,654,631,656.063629625,0.400982382069,0.0045913756771,0.0498522546781,0.999999960557,0.00010884056361,-0.000255993538772,-3.88232278377e-05,1793250281442352896
+58,0.966666667,BASELINE,770,745.66116093,719,683,669.33883907,641,884.33883907,787.66116093,817,654,631,656.66116093,0.40098271761,0.00459082158619,0.0498522382244,0.999999960602,0.000108004639108,-0.000256212955803,-3.85603034424e-05,1793250281459019776
+59,0.983333333,BASELINE,770,745.749894619,719,682.749894619,669,641,884.250105381,788,817,654,631,656.749894619,0.400982251018,0.00459054996646,0.0498519382927,0.999999960487,0.000107362500501,-0.000256925256831,-3.85869515907e-05,1793250281475686400
+60,1.000000000,BASELINE,770,745.172197281,719,682.172197281,669,641,884.827802719,788,817,654,631,656.172197281,0.40098073378,0.00459064833183,0.0498512670573,0.999999960163,0.000106974185587,-0.000258283145092,-3.89928863705e-05,1793250281492353024
+61,1.016666667,BASELINE,769.596684946,745.403315054,719,682.403315054,669,641,884.596684946,787.596684946,817,654,631,656,0.400980726391,0.00459070266649,0.0498515533262,0.99999996023,0.000107033090752,-0.000258008704142,-3.89294888983e-05,1793250281509019136
+62,1.033333333,BASELINE,769.022100518,745.977899482,719,682.977899482,669,641,884.022100518,787.022100518,817,654,631,656,0.400981360165,0.00459073830334,0.0498522462034,0.999999960463,0.000107281909762,-0.000257041087881,-3.86667875545e-05,1793250281525685760
+63,1.050000000,BASELINE,769.565470251,746,719.565470251,683.565470251,669,641,884,787,817,654,631,656,0.400981973653,0.00458959303965,0.0498527043823,0.999999961089,0.000104432520928,-0.000255792795972,-3.85464284777e-05,1793250281542351872
+64,1.066666667,BASELINE,770,746,719.848333908,683.848333908,669,641,884,787,817,654.151666092,631,656,0.400982234689,0.00458886890402,0.0498529963589,0.999999961459,0.00010259980527,-0.000255097433342,-3.84835773081e-05,1793250281559017984
+65,1.083333333,BASELINE,770,746,719.267498704,683.267498704,669,641,884,787,817,654.732501296,631,656,0.400981500689,0.00458947010398,0.0498528445998,0.999999961081,0.000103994665031,-0.000255998463962,-3.85673438422e-05,1793250281575684352
+66,1.100000000,BASELINE,770,746,719.311112185,682.688887815,669,641,884,787,817,655,631,656,0.400982161469,0.00459036828244,0.0498529459156,0.999999961029,0.000106023196814,-0.000255364650753,-3.8591199726e-05,1793250281592351232
+67,1.116666667,BASELINE,770,746,719.887824121,682.112175879,669,641,884,787,817,655,631,656,0.400984012988,0.00459151999453,0.0498532632843,0.999999961249,0.00010859270101,-0.000253420525135,-3.8563909251e-05,1793250281609017856
+68,1.133333333,BASELINE,770,746,720,682.462684116,668.537315884,641,884,787.462684116,817,654.537315884,630.537315884,656,0.400982471252,0.00459043190586,0.0498517543673,0.999999960888,0.000105308050318,-0.000256198339469,-3.86934113588e-05,1793250281625684736
+69,1.150000000,BASELINE,770,746,720,683,668.038178503,641,884,787.961821497,817,654,630.038178503,656,0.400980316478,0.00458887013311,0.0498500226731,0.999999960415,0.000100996590312,-0.000259733419277,-3.88285061352e-05,1793250281642351616
+70,1.166666667,BASELINE,770,746,720,683,668.629338263,641,884,787.370661737,817,654,630.629338263,656,0.400981150684,0.00458828142729,0.0498514518932,0.999999960817,0.00010228828593,-0.000257721292502,-3.84962059871e-05,1793250281659017984
+71,1.183333333,BASELINE,770,745.784597076,719.784597076,683,669,641,884,787,817,654,630.784597076,656,0.400981859407,0.00458843779119,0.0498522877319,0.999999961084,0.000103381462971,-0.000256243683505,-3.85184346238e-05,1793250281675684608
+72,1.200000000,BASELINE,770,745.207097287,719.207097287,683,669,641,884,787,817,654,630.207097287,656,0.400982357188,0.00458984663292,0.0498521260839,0.999999961129,0.000104140926306,-0.000255664609863,-3.91366335827e-05,1793250281692351232
+73,1.216666667,BASELINE,770,745.367807335,719,683,669,641,884.367807335,787.367807335,817,654.367807335,630.367807335,656,0.400982278987,0.004590161154,0.0498519270704,0.999999960879,0.00010538510798,-0.000256140014599,-3.90921907828e-05,1793250281709017600
+74,1.233333333,BASELINE,770,745.941260928,719,683,669,641,884.941260928,787.941260928,817,654.941260928,630.941260928,656,0.400981878746,0.00458986382491,0.0498517071653,0.999999960461,0.000106900302457,-0.000257204993076,-3.867725561e-05,1793250281725684224
+75,1.250000000,BASELINE,770,746,719.529384562,683,669,640.470615438,884.470615438,788,817,655,630.470615438,656,0.400981967929,0.00458979959065,0.0498516018554,0.999999960789,0.000105425230035,-0.000256524573309,-3.87706963138e-05,1793250281742351104
+76,1.266666667,BASELINE,770,745.883097805,719.883097805,682.883097805,669,640.116902195,884.116902195,788,817,655,630.116902195,656,0.400982096348,0.00458966860177,0.0498515274825,0.999999961097,0.000104001015354,-0.000255883676982,-3.88919756485e-05,1793250281759017984
+77,1.283333333,BASELINE,770,745.304583789,719.304583789,682.304583789,669,640.695416211,884.695416211,788,817,655,630.695416211,656,0.400982159154,0.00458916898062,0.049851523631,0.999999961007,0.000104125110632,-0.000256185366347,-3.88940947239e-05,1793250281775684864
+78,1.300000000,BASELINE,770,745,719,682,669,641,885,787.726398493,817,654.726398493,631,656,0.400982028679,0.00458937128475,0.0498514808268,0.999999960797,0.00010482834844,-0.000256721444316,-3.88690586044e-05,1793250281792351744
+79,1.316666667,BASELINE,770,745,719,682,669,641,885,787.148578742,817,654.148578742,631,656,0.400981683295,0.0045903540615,0.0498513947108,0.999999960452,0.000106175536357,-0.000257518139577,-3.88138285512e-05,1793250281809018368
+80,1.333333333,BASELINE,769.572272854,745.427727146,719,682.427727146,669,641,884.572272854,787.427727146,817,654.427727146,631,656,0.400982072377,0.00458986473656,0.0498518081935,0.999999960751,0.000105610858812,-0.000256631600463,-3.85231915961e-05,1793250281825684736
+81,1.350000000,BASELINE,769,745.996423212,719.003576788,683,669,641,884,788,817.003576788,655,630.996423212,656,0.400982717625,0.00458888025015,0.049852395439,0.999999961268,0.000104397295099,-0.000255164884095,-3.81550413047e-05,1793250281842351104
+82,1.366666667,BASELINE,769,745.409529538,719.590470462,683,669,641,884,788,817.590470462,655,630.409529538,656,0.400983678871,0.004590243555,0.049853118046,0.999999961435,0.000105286316209,-0.000254099770053,-3.84345186149e-05,1793250281859017728
+83,1.383333333,BASELINE,769.174877321,745.174877321,720,683,669,641,884,788,817.825122679,654.825122679,630,656,0.400983917724,0.00459099314657,0.0498533505667,0.999999961485,0.000105633716326,-0.000253718619048,-3.87185158122e-05,1793250281875684608
+84,1.400000000,BASELINE,769.753542298,745.753542298,720,683,669,641,884,788,817.246457702,654.246457702,630,656,0.400982488592,0.00459032568881,0.0498524514897,0.999999961263,0.000104730526379,-0.000254916722536,-3.90129493794e-05,1793250281892351232
+85,1.416666667,BASELINE,770,745.669560755,719.669560755,683,669,641,884.330439245,787.669560755,817,654.330439245,630,656,0.400982131884,0.00458921242215,0.0498523273211,0.999999961289,0.000103505543385,-0.000255349408616,-3.8800331782e-05,1793250281909017856
+86,1.433333333,BASELINE,770,745.093975508,719.093975508,683,669,641,884.906024492,787.093975508,817,654.906024492,630,656,0.400982570788,0.00458776841918,0.0498527780409,0.999999961497,0.000102041828876,-0.00025521424737,-3.82115434538e-05,1793250281925684224
+87,1.450000000,BASELINE,770,745,719.479854783,682.520145217,669.479854783,641,884.520145217,787,817,654.520145217,630.479854783,656,0.400983150482,0.00458763033678,0.0498537125836,0.999999961889,0.00010164766753,-0.000253859875193,-3.80176015509e-05,1793250281942351616
+88,1.466666667,BASELINE,769.944653633,745,719.944653633,682.055346367,669.944653633,641,884.055346367,787.055346367,817.055346367,654,630.944653633,656,0.400983548894,0.00458789966252,0.0498544494318,0.999999962165,0.000101759846065,-0.000252733825087,-3.79666404392e-05,1793250281959018752
+89,1.483333333,BASELINE,769.349623567,745,719.349623567,682.650376433,669.349623567,641,884.650376433,787.650376433,817.650376433,654,630.349623567,656,0.400981911732,0.00458965686338,0.0498523379877,0.99999996096,0.000104774320977,-0.000256153937469,-3.85586152569e-05,1793250281975685120
+90,1.500000000,BASELINE,769,745.238630137,719,683,669,641,884.761369863,788,817.761369863,654,630,656,0.400981114325,0.00459023128426,0.0498513044386,0.999999960423,0.000105466082804,-0.00025792985066,-3.8778743344e-05,1793250281992351488
+91,1.516666667,BASELINE,769,745.817229704,719,683,669,641,884.182770296,788,817.182770296,654,630,656,0.400981513293,0.00458912063267,0.0498518065354,0.999999960853,0.000102848742453,-0.000257363320697,-3.84691121357e-05,1793250282009017856
+92,1.533333333,BASELINE,769.390313928,745.609686072,719.390313928,683.390313928,669,641,884,787.609686072,817,654.390313928,630,656,0.400982690594,0.00458924211109,0.0498528204809,0.999999961372,0.000102373370695,-0.000255528554603,-3.84918750128e-05,1793250282025684736
+93,1.550000000,BASELINE,769.960851547,745.039148453,719.960851547,683.960851547,669,641,884,787.039148453,817,654.960851547,630,656,0.400984227282,0.00458993251355,0.0498540707675,0.999999961928,0.000102887032036,-0.000253108192662,-3.86681176241e-05,1793250282042351616
+94,1.566666667,BASELINE,769.449028557,745.550971443,719.449028557,683.449028557,669,641,884,787.550971443,817,654.449028557,630.550971443,656,0.400983399956,0.00458829004503,0.0498531730127,0.999999961902,0.000101189234504,-0.000253872514526,-3.87933502912e-05,1793250282059018496
+95,1.583333333,BASELINE,769.139430824,745.860569176,719.139430824,682.860569176,669,641,884.139430824,787.860569176,817,654.139430824,630.860569176,656,0.400982609106,0.00458709885384,0.049852424918,0.999999961797,0.000100630199491,-0.000254516112939,-3.87569660559e-05,1793250282075685120
+96,1.600000000,BASELINE,769.718114326,745.281885674,719.718114326,682.281885674,669,641,884.718114326,787.281885674,817,654.718114326,630.281885674,656,0.400982481828,0.00458787077071,0.0498526468415,0.999999961575,0.000104171897026,-0.000254040258118,-3.82232747021e-05,1793250282092351744
+97,1.616666667,BASELINE,769.704787919,745,719.704787919,682.295212081,669,641,884.704787919,787,817,654.704787919,630,656,0.400981602758,0.00458898256477,0.049852097474,0.999999961143,0.000105899351459,-0.000255030381779,-3.81899618486e-05,1793250282109018880
+98,1.633333333,BASELINE,769.12919627,745,719.12919627,682.87080373,669,641,884.12919627,787,817,654.12919627,630,656,0.400980009667,0.00459041715931,0.0498508155681,0.999999960515,0.000105903716657,-0.000257412827935,-3.86318867169e-05,1793250282125686528
+99,1.650000000,BASELINE,769.446435113,745,719,683,668.553564887,641,884.446435113,787,817,654,630,656,0.400981430877,0.00459052923012,0.0498515574184,0.999999960827,0.000105921127978,-0.00025615709593,-3.8853341787e-05,1793250282142352384
+100,1.666666667,BASELINE,770,745.022573785,719,683,668.022573785,641,884.977426215,787.022573785,817,654,630,656,0.400983587972,0.004590255972,0.0498528143627,0.999999961375,0.000105947135114,-0.000253978313691,-3.89953504716e-05,1793250282159018240
+101,1.683333333,BASELINE,770,745.611143634,719,683,668.611143634,641,884.388856366,787.611143634,817,654,630,656,0.400982322165,0.00458991846216,0.0498523005427,0.999999961094,0.000106093994637,-0.00025505692306,-3.87452712143e-05,1793250282175685120
+102,1.700000000,BASELINE,770,745.803200095,719,683,669,640.803200095,884.196799905,788,817,654.196799905,630,656,0.400981739804,0.00458971507041,0.0498521531122,0.999999960954,0.000106353440464,-0.000255519819234,-3.86097979274e-05,1793250282192352000
+103,1.716666667,BASELINE,770,745.223216832,719,683,669,640.223216832,884.776783168,788,817,654.776783168,630,656,0.40098248816,0.0045897728161,0.0498527190681,0.999999961087,0.000106832099786,-0.000254783878074,-3.86974706131e-05,1793250282209018624
+104,1.733333333,BASELINE,770,745,719.353844236,683,669,640.353844236,884.646155764,788,817,655,630,656,0.400982480991,0.00459081641124,0.0498528880534,0.999999960997,0.000107925393491,-0.000254678460589,-3.86973885217e-05,1793250282225685248
+105,1.750000000,BASELINE,770,745,719.929077041,683,669,640.929077041,884.070922959,788,817,655,630,656,0.400982001116,0.00459247681958,0.0498528086674,0.999999960765,0.000109403243528,-0.000254967540719,-3.8642401194e-05,1793250282242351872
+106,1.766666667,BASELINE,769.484125223,745,719.484125223,683,669,641,884,788,817,655,630.515874777,656,0.400982574654,0.00459105385156,0.0498529914583,0.999999961179,0.000107242729751,-0.000254285656557,-3.84634937452e-05,1793250282259019008
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,884,787,817,655,631,656,0.400981373569,0.00459077538783,0.0498518857955,0.999999960664,0.000108051179038,-0.000255964101873,-3.84691430555e-05,1793250282301515008
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.423642699,745.423642699,719.423642699,683,669,641,884,787.576357301,817,654.423642699,630.423642699,656,0.400981685524,0.00458950019043,0.0498522627738,0.999999960947,0.000106758613735,-0.000255428680584,-3.82757917799e-05,1793250282318181632
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.152201139,745,719.152201139,683,669,641,884,788,817,654,630.152201139,656,0.400982016702,0.00458879960319,0.0498526713204,0.999999961182,0.000105998636103,-0.000254838629584,-3.81670017847e-05,1793250282334848512
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.726620721,745,719.726620721,683,669,641,884,788,817,654,630.726620721,656,0.400982401203,0.00458969303138,0.0498531674405,0.99999996129,0.000106716100064,-0.000254097031163,-3.82927916736e-05,1793250282351515392
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745,719.690952711,683,669,640.690952711,884,787.690952711,817,654.309047289,631,656,0.400982236522,0.00458977482759,0.0498532520591,0.999999961325,0.000106526530226,-0.00025403203934,-3.83500628319e-05,1793250282368182016
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745,719.101254914,683,669,640.101254914,884,787.101254914,817,654.898745086,631,656,0.400981573122,0.00458911956848,0.0498529629868,0.999999961292,0.00010551326926,-0.000254581484225,-3.83451110892e-05,1793250282384848640
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,745.48064947,719,683,669,640.48064947,884,787,817,654.51935053,630.51935053,656,0.400980460613,0.0045888547633,0.0498518385605,0.999999960858,0.000105483332277,-0.000256263884422,-3.85385067911e-05,1793250282401515264
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,746,719.060284234,683,669,641,884,787,817,654,630.060284234,656,0.400979725969,0.00458887303444,0.0498508583252,0.999999960453,0.000105794780931,-0.000257684005925,-3.87266336983e-05,1793250282418181632
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,746,719.634344979,683,669,641,884,787,817,654,630.634344979,656,0.400983005164,0.00459061401212,0.0498525828219,0.999999961025,0.000107278433551,-0.000254867201107,-3.85194284467e-05,1793250282434848000
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,746,720,682.786022992,669,641,884,787.213977008,817,654,631,656,0.400988659637,0.00459159412354,0.0498550501554,0.999999962125,0.000107949713263,-0.000250234302206,-3.84598153557e-05,1793250282451514624
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,746,720,682.196616014,669,641,884,787.803383986,817,654,631,656,0.400998481619,0.00459123926894,0.049858820821,0.999999964125,0.000107195656803,-0.000242415004495,-3.86591577722e-05,1793250282468181248
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,745.614474862,719.614474862,682.385525138,669,641,884,788,817,654,631,656,0.401026156552,0.00459108931954,0.0498690796413,0.999999968991,0.000106750561819,-0.000221647514655,-3.86557311927e-05,1793250282484848128
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745.035970651,719.035970651,682.964029349,669,641,884,788,817,654,631,656,0.401062767986,0.00459104193778,0.0498825861829,0.999999974695,0.00010646012095,-0.000194398656398,-3.8550806238e-05,1793250282501515264
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745.540522946,719.540522946,683,669,641,884,788,817,654,630.459477054,656,0.40112773477,0.00459094132563,0.0499035242688,0.999999982103,0.000106198508217,-0.00015181670542,-3.82987919614e-05,1793250282518181632
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,745.888406708,720,683,669,641,884.111593292,787.888406708,817,654,630.111593292,656,0.401195171199,0.00459049109903,0.0499230393347,0.999999987147,0.000105385893244,-0.000114768995793,-3.77883704352e-05,1793250282534848512
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,745.338131382,720,683,669,641,884.661868618,787.338131382,817,654,630.661868618,656,0.401264925608,0.00458868038414,0.0499350234794,0.999999988745,0.000102399731945,-0.0001034731608,-3.6300466474e-05,1793250282551514880
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884.76180991,787.23819009,817,654.23819009,630.76180991,656,0.401341743687,0.00458659129329,0.0499447413022,0.999999990202,9.95342695831e-05,-9.1989100813e-05,-3.50221702477e-05,1793250282568181504
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884.143974119,787.856025881,817,654.856025881,630.143974119,656,0.401429820385,0.0045840585055,0.0499508468862,0.999999991512,9.68611866648e-05,-8.02050340283e-05,-3.40779630566e-05,1793250282584848128
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884,787.555916063,817,655,630.444083937,656,0.401527105514,0.00458350029894,0.0499499750879,0.999999991316,9.65154506058e-05,-8.33005858009e-05,-3.33881022159e-05,1793250282601514496
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884,787.022963173,817,654.977036827,630.977036827,656,0.401628510579,0.00458355750514,0.0499470995271,0.999999990666,9.68924543681e-05,-9.05878963391e-05,-3.27635821239e-05,1793250282618181120
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884,787.598679525,817,654.401320475,630.401320475,656,0.401761740899,0.00458398715951,0.0499470207188,0.99999999068,9.76454145585e-05,-8.99524194898e-05,-3.18517061413e-05,1793250282634848000
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.825349431,745,720,683,669,641,884.174650569,788,817,654.174650569,630,656,0.401904670605,0.00458303046518,0.0499479275575,0.999999990959,9.62444142474e-05,-8.87574058169e-05,-3.06756138578e-05,1793250282651514880
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.24879237,745,720,683,669,641,884.75120763,788,817,654.75120763,630,656,0.402069920555,0.00457888350038,0.0499511025707,0.999999991821,8.98867124989e-05,-8.62747841621e-05,-2.88915062371e-05,1793250282668181760
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.333977523,745,720,683,669,641,885,788,817,654.666022477,630.333977523,656,0.402242934316,0.00457687218459,0.0499492759371,0.999999991667,8.62408598606e-05,-9.20589298657e-05,-2.74611513533e-05,1793250282684848128
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.921463377,745,720,683,669,641,885,788,817,654.078536623,630.921463377,656,0.402421841278,0.00457648194995,0.0499436527636,0.999999990651,8.46534574633e-05,-0.000104118031677,-2.62993151443e-05,1793250282701514496
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,745,719.495496563,683,669,641,885,788,817,654,631,656,0.402648957991,0.00457385172408,0.0499450251105,0.999999991239,7.99464730183e-05,-0.000102618234027,-2.44775420015e-05,1793250282718181376
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,745,719,683,669,641,885,787.914549095,817,654.085450905,631,656,0.402890671611,0.00457078912694,0.0499480476165,0.999999992139,7.48515174125e-05,-9.80420188858e-05,-2.25074108603e-05,1793250282734848000
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745,719,683,669,641,885,787.341625384,817,654.658374616,631,656,0.403173217356,0.00456723184293,0.0499543256378,0.999999993465,7.02894690208e-05,-8.78516472511e-05,-2.02718828235e-05,1793250282751514368
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,745,719.231644672,683,669.231644672,641,885,787.231644672,816.768355328,654.768355328,631,656,0.403473197741,0.0045641523093,0.0499621997362,0.999999995045,6.61273094068e-05,-7.2162296641e-05,-1.81609124867e-05,1793250282768181248
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,745,719.805426243,683,669.805426243,641,885,787.805426243,816.194573757,654.194573757,631,656,0.4037989289,0.00456177840847,0.0499724312247,0.999999996743,6.25557818349e-05,-4.83510088538e-05,-1.62339127747e-05,1793250282784848384
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,745.392876031,720,683,669.607123969,641.392876031,885.785752063,788,816.392876031,654,630.607123969,656,0.404146857116,0.00455834920158,0.0499818549194,0.999999997823,5.71337104443e-05,-2.99241463879e-05,-1.3936148708e-05,1793250282801515008
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745.987339044,720,683,669.012660956,641.987339044,886.974678088,788,816.987339044,654,630.012660956,656,0.404506174762,0.00455437851107,0.0499908641301,0.999999998544,5.07621143468e-05,-1.42600646596e-05,-1.14481433496e-05,1793250282818181888
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,745.435249271,719.435249271,683.564750729,669,642,885.305747813,787.435249271,817,654,630.564750729,656,0.404913344287,0.00454980995047,0.0499958716649,0.999999998997,4.38866077482e-05,1.06282455302e-06,-8.82778243588e-06,1793250282834848768
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745,719,684,669,641.858918827,884.141081173,787.141081173,817,654,630.858918827,656.141081173,0.405324136851,0.00454531639085,0.0499955010161,0.999999999275,3.72907693814e-05,4.72198415087e-06,-6.10514232736e-06,1793250282851515136
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745,719,684,669,641.284768483,884.715231517,787.715231517,817,654,630.284768483,656.715231517,0.405742854255,0.00454109299648,0.049978888564,0.999999999121,3.15870760691e-05,-2.73995811312e-05,-3.07738326798e-06,1793250282868181504
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,745,719.291030112,684,669,641.291030112,885,788,816.708969888,654,630.291030112,656.708969888,0.406175162729,0.00453744953126,0.0499592128285,0.999999997521,2.766439862e-05,-6.47505246526e-05,-8.40540600364e-08,1793250282884847872
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,745,719.868450751,684,669,641.868450751,885,788,816.131549249,654,630.868450751,656.131549249,0.406620845654,0.00453437674951,0.0499365226423,0.99999999392,2.54943434817e-05,-0.000107247483725,2.87539453492e-06,1793250282901514496
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.544202475,745,720,684,669,641.544202475,885.455797525,788,816.455797525,654,630.544202475,656,0.407108965706,0.00453050046075,0.04992498152,0.999999991609,2.06077929296e-05,-0.000127765849131,5.75462322516e-06,1793250282918181120
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,720,684.045125189,669,641.045125189,886,788,817,654.045125189,630.045125189,656.045125189,0.407617728774,0.00452605857504,0.0499191429526,0.999999990478,1.46186221794e-05,-0.000136949185066,8.704568753e-06,1793250282934848000
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,720,684.623259241,669,641.623259241,886,788,817,654.623259241,630.623259241,656.623259241,0.408222432578,0.00451773614507,0.0499418079941,0.999999995959,5.07233700666e-06,-8.88395210818e-05,1.27693691107e-05,1793250282951515136
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.200310742,745.200310742,719.799689258,685,669.200310742,642,886,788,817,654.799689258,631,656.799689258,0.408843761646,0.00451033044379,0.0499655635543,0.999999998863,9.15270824641e-06,-4.353542623e-05,1.71468766726e-05,1793250282968182016
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.775337109,745.775337109,719.224662891,685,669.775337109,642,886,788,817,654.224662891,631,656.224662891,0.409496191085,0.00450463964136,0.0499913591156,0.999999999,3.8724079835e-05,-3.47963310565e-06,2.21093565135e-05,1793250282984848640
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,719.360086086,685,670,642,886,788,817.360086086,654.360086086,630.639913914,656,0.410128886834,0.00449894552033,0.0499995578879,0.999999996587,7.80617670183e-05,5.99906698104e-06,2.64047876675e-05,1793250283001515264
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,719.951069451,685,670,642,886,788,817.951069451,654.951069451,630.048930549,656,0.410748928763,0.00449324927152,0.0499964731055,0.999999991887,0.000123661887948,-4.12912251486e-06,3.02724883196e-05,1793250283018181888
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.469237928,745.469237928,719.469237928,685.530762072,670,642,886,788,817.469237928,654.469237928,630.530762072,656,0.411371862769,0.00448656210781,0.0499641087342,0.999999990555,0.000109505353827,-7.60178749733e-05,3.34627992366e-05,1793250283034848256
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.108387744,719.108387744,686,670,641.891612256,886.108387744,788,817,654,631,656,0.412020404507,0.00447951874655,0.0499378518323,0.999999987846,7.78486023124e-05,-0.000131037126557,3.28208160025e-05,1793250283051514624
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.681520726,719.681520726,686,670,641.318479274,886.681520726,788,817,654,631,656,0.412777627571,0.00447133162156,0.0499491153888,0.999999995822,-5.71647477143e-06,-8.98185028072e-05,1.60088994365e-05,1793250283068181248
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,720,685.74438964,670.25561036,641.25561036,887,788,817,654,631,656,0.413555153146,0.00446160475791,0.0499649143808,0.999999997353,-4.84639771109e-05,-5.34017581098e-05,9.62758939748e-06,1793250283084847872
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,720,685.169103504,670.830896496,641.830896496,887,788,817,654,631,656,0.414358069894,0.004449952239,0.0499863855576,0.999999998796,-4.01635212902e-05,-2.29904161723e-05,1.62911797435e-05,1793250283101514240
+156,2.600000000,POSE1_TO_POSE2_PRESS,769,746,720,685.417999615,670.582000385,641.582000385,887,788,817.417999615,654,631,656,0.415117762829,0.00444939355599,0.0499723011349,0.999999998101,-3.3539734905e-05,-4.75339893068e-05,2.03201903488e-05,1793250283118180864
+157,2.616666667,POSE1_TO_POSE2_PRESS,769.009775382,746,719.990224618,686.009775382,670,641.009775382,887.009775382,788,818,654,630.990224618,656,0.415860611011,0.00445383791474,0.0499437934509,0.999999994918,-2.7162228267e-05,-9.42863407101e-05,2.31744512361e-05,1793250283134847488
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.587207443,746,719.412792557,686.587207443,670,641.587207443,887.587207443,788,818,654,630.412792557,656,0.416670262769,0.0044806051984,0.0499373163644,0.99999999454,5.44887615207e-06,-0.000102116748094,2.15044060423e-05,1793250283151514112
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,719.164414132,687,670,641.835585868,888,788,818,654,630.164414132,656,0.417501448448,0.00449896136577,0.0499419767226,0.99999999517,3.08501366584e-05,-9.10339391887e-05,2.05208986967e-05,1793250283168180736
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,719.741055718,687,670,641.258944282,888,788,818,654,630.741055718,656,0.418386625022,0.00449622875391,0.0499745614476,0.999999998516,3.81745086016e-05,-3.25309540686e-05,2.12587139936e-05,1793250283184847360
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,720,687,670,641.322957231,888,788,818,654,631,656,0.419239937319,0.00448812114457,0.0499809794314,0.999999998962,2.80705906923e-05,-2.78851567818e-05,2.25829884576e-05,1793250283201514240
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,720,687,670,641.909145904,888,788,818,654,631,656,0.420067278087,0.00447563255794,0.0499660697939,0.999999997442,3.76146687529e-06,-6.71365221743e-05,2.43852657891e-05,1793250283218180864
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746,720,687.492149533,670,641.507850467,887.507850467,788,818.492149533,654,631,656,0.420984063204,0.00447263795109,0.0499704893643,0.999999998874,-5.2098955977e-06,-4.07392231898e-05,2.37850529806e-05,1793250283234847488
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746,720,688,670.147233493,641.073616746,887.147233493,788,819,654,630.926383254,656,0.421914959232,0.00447143493806,0.0499795050083,0.999999999678,-9.97226441489e-06,-4.04881259125e-06,2.29678473939e-05,1793250283251514112
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746,720,688,671.297197264,641.648598632,888.297197264,788,819,654,630.351401368,656,0.422830225178,0.00447057388891,0.0499956765329,0.999999999491,-5.22892908808e-06,2.07358881373e-05,2.36739494869e-05,1793250283268180992
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746,720,688,671.552267027,641.776133514,888.776133514,788,819,654.223866486,630,656,0.423739641348,0.0044733451921,0.0499981625495,0.999999999443,1.38086390621e-06,2.32425151333e-05,2.39336664382e-05,1793250283284847616
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,746,720,688,670.400832225,641.200416112,888.200416112,788,819,654.799583888,630,656,0.424639863567,0.00448182546264,0.0499791390582,0.999999999621,1.09241687959e-05,-9.26529835778e-06,2.3491800055e-05,1793250283301514240
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,746,720,688,670,641.384347479,888,788,819,654.615652521,630.384347479,656,0.425572477402,0.00448670627393,0.0499832792342,0.999999999497,1.94254560237e-05,-6.08073642043e-06,2.43075973052e-05,1793250283318180608
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,746,720,688,670,641.973941827,888,788,819,654.026058173,630.973941827,656,0.426522388755,0.00448966492371,0.0499997891301,0.999999999162,2.73702908357e-05,1.61640494956e-05,2.57950043518e-05,1793250283334847488
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,720,688.55294638,670,641.44705362,888,788,819.55294638,654,631,656.55294638,0.427413509018,0.00448135103633,0.0499890861074,0.999999999106,1.80017798218e-05,-2.5908639301e-05,2.816612948e-05,1793250283351514368
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746,720,689,669.86964315,641.13035685,888,788,820,654,631,656.86964315,0.428304734343,0.00447418639274,0.0499733308685,0.99999999725,8.54567832809e-06,-6.74216517527e-05,2.96859903868e-05,1793250283368180992
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746,720,689,669.295988408,641.704011592,888,788,820,654,631,656.295988408,0.42920556166,0.0044727025035,0.0499446739819,0.999999994906,1.51419469027e-06,-9.69176320683e-05,2.81720379724e-05,1793250283384847616
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,720,689,669.556220266,641.721889867,888,788,820,654,631,656.278110133,0.43013450143,0.00447246360826,0.0499379705318,0.999999994969,8.38359972432e-07,-9.63141411027e-05,2.80310423299e-05,1793250283401514496
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,746,720,689,670.705363442,641.147318279,888,788,820,654,631,656.852681721,0.431093408617,0.00447355185906,0.0499546691355,0.999999997521,6.93755725838e-06,-6.36250390081e-05,2.93535992171e-05,1793250283418181120
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746,720,689.440832679,670.559167321,641,888.440832679,788,819.559167321,654,631,656.559167321,0.432012956504,0.00447875029364,0.0499471026876,0.999999996506,1.01593258188e-05,-7.76931993194e-05,2.91380135683e-05,1793250283434847488
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.967124739,746,720,689.967124739,670,641,888.967124739,787.967124739,819.032875261,654,631,656,0.432920633711,0.00448474858453,0.0499331736016,0.999999994121,1.15903551379e-05,-0.00010399685837,2.84429427228e-05,1793250283451514112
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.388214043,746,720,689.388214043,670,641,888.388214043,787.388214043,819.611785957,654,631,656,0.433856554359,0.00448049314278,0.049952530056,0.99999999743,-2.42694729504e-07,-6.57475301826e-05,2.85928081445e-05,1793250283468180736
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,720,689.189614271,670.189614271,641,888.189614271,787.189614271,820,654,631,656,0.434771302944,0.00447579922513,0.0499685041035,0.999999998785,-1.75023376125e-06,-3.9614154426e-05,2.92905416495e-05,1793250283484847616
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,720,689.765239212,670.765239212,641,888.765239212,787.765239212,820,654,631,656,0.435642950291,0.00447021267152,0.0499775923586,0.999999998631,1.77625698559e-05,-3.81460404205e-05,3.1103607579e-05,1793250283501513984
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.346816162,746,720,690,670.306367676,641,889,788,820.346816162,654,631,656,0.436493486538,0.00446787106408,0.0499649549516,0.999999996533,2.24536251431e-05,-7.31201252688e-05,3.2915373541e-05,1793250283518180608
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.932492359,746,720,690,669.135015283,641,889,788,820.932492359,654,631,656,0.437329483046,0.00446776432386,0.0499373545956,0.999999990383,1.69366101998e-05,-0.000133192766009,3.47262439886e-05,1793250283534847232
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.514889341,720,690.514889341,669.514889341,641.514889341,889,788,821,654.514889341,631,656,0.438234961166,0.00446771375546,0.0499600344013,0.99999999647,2.88584481248e-06,-7.6947192791e-05,3.36312837579e-05,1793250283551513856
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.904623924,720,690.904623924,670,641.904623924,889,788,821,655,631,656,0.439130178896,0.00446852179105,0.0499828283099,0.999999999224,-1.00541075383e-05,-2.07335416704e-05,3.19412848182e-05,1793250283568180736
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746.331564816,720,690.331564816,670,641.331564816,889,788,821,655,631,656,0.439928671372,0.00447359341996,0.0499733857567,0.999999998681,-1.18623518424e-05,-4.05777091538e-05,2.91671475142e-05,1793250283584848128
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746,720,690,669.757030589,641,889,788,821,654.757030589,631,656,0.440718434255,0.00447462632579,0.0499640157724,0.999999997954,-4.5057619006e-06,-5.72126176679e-05,2.82465392442e-05,1793250283601515008
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746,720,690,669.180471115,641,889,788,821,654.180471115,631,656,0.441496211587,0.00447011417972,0.0499547454239,0.999999997024,1.54338839305e-05,-6.94413036128e-05,2.98707736459e-05,1793250283618181376
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746.406220155,720,690.406220155,669,641,889,787.593779845,821,654.406220155,631,656,0.442279613749,0.00446718807246,0.0499613452361,0.999999997905,1.90052917593e-05,-5.3240503303e-05,3.15287086046e-05,1793250283634848256
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.997527861,720,690.997527861,669,641,889,787.002472139,821,654.997527861,631,656,0.443065578839,0.00446498461739,0.049975176026,0.999999999044,1.51187821315e-05,-2.40862748984e-05,3.32019987934e-05,1793250283651515136
+189,3.150000000,POSE1_TO_POSE2_PRESS,769.423599869,746.423599869,720,691,669,641,889,787,820.423599869,655,630.423599869,656,0.443732829049,0.00447177901735,0.0499480883141,0.999999996099,2.09862080998e-05,-7.87459536462e-05,3.40787906876e-05,1793250283668181760
+190,3.166666667,POSE1_TO_POSE2_PRESS,769.154278133,746,720,691,668.845721867,641,889,787,820.154278133,654.845721867,630.154278133,656,0.44438710133,0.00448048628973,0.0499137599338,0.999999989149,2.97849274921e-05,-0.000140084673844,3.45143217991e-05,1793250283684848384
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.729585359,746,720,691,668.270414641,641,889,787,820.729585359,654.270414641,630.729585359,656,0.445007316819,0.00449431075074,0.0498601403925,0.999999974438,4.64714703881e-05,-0.000218690395964,3.3754766715e-05,1793250283701515264
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,746.310961479,720,691,668,640.689038521,889,787.310961479,821,654.310961479,631,656,0.445643188924,0.00450852750539,0.0498369350977,0.999999968268,6.4890286645e-05,-0.000241252406804,3.24119968881e-05,1793250283718181632
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746.897720175,720,691,668,640.102279825,889,787.897720175,821,654.897720175,631,656,0.446292947119,0.00452309219136,0.0498407047374,0.999999973013,8.48454858385e-05,-0.000214108258364,3.05519637842e-05,1793250283734847744
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,720,691,668,640,889.477841243,787.522158757,821,654.522158757,631,656,0.44690390446,0.00452753054751,0.0498355253343,0.999999970598,9.52233019834e-05,-0.000220792479209,3.14199626629e-05,1793250283751514368
+195,3.250000000,POSE1_TO_POSE2_PRESS,769.943523415,746.943523415,720,691,667.943523415,639.943523415,889.943523415,787.056476585,821.056476585,654.056476585,631,656,0.447497799444,0.00452967119329,0.0498254781424,0.999999965672,0.000102793522435,-0.000238782166033,3.2755362377e-05,1793250283768181248
+196,3.266666667,POSE1_TO_POSE2_PRESS,769.365667538,746.365667538,720,691,667.365667538,639.365667538,889.365667538,787.634332462,821.634332462,654.634332462,631,656,0.448009799461,0.00453033558811,0.049787933834,0.999999950562,0.000103110474787,-0.000295211637116,3.30889075182e-05,1793250283784847872
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746.211380063,720,691,666.788619937,639,889,788,822,654.788619937,631,656,0.44851931726,0.00453204829457,0.0497605577046,0.999999937499,0.000104056080933,-0.000336248278198,3.33442383391e-05,1793250283801514240
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,746.787034688,720,691,666.212965312,639,889,788,822,654.212965312,631,656,0.449024557362,0.0045355675728,0.0497507045608,0.999999932297,0.000106085056387,-0.000350758210582,3.346478131e-05,1793250283818180608
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.372004004,746.627995996,720,691,666.372004004,638.627995996,889.372004004,787.627995996,822,654,631,656,0.449513703552,0.00453608058095,0.0497570037619,0.999999935458,0.000102970707129,-0.00034254455611,3.38122379278e-05,1793250283834847488
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.962442814,746.037557186,720,691,666.962442814,638.037557186,889.962442814,787.037557186,822,654,631,656,0.449993399703,0.0045348283557,0.0497727873609,0.999999943207,9.68362799708e-05,-0.000320987975918,3.42929346128e-05,1793250283851514112
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,746,720,691.541918953,666.458081047,637.458081047,890,787,822,654.541918953,631,656,0.450450282653,0.00453509104658,0.0497825651368,0.999999950153,5.39973577666e-05,-0.0003102551087,2.27995040525e-05,1793250283868180736
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,746,720.119601702,692,666,637.119601702,890,787,822,655,631,656,0.450887429801,0.00453454386902,0.049788141967,0.999999952667,1.56458696554e-05,-0.000307002437778,1.30416117303e-05,1793250283884847360
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,746,720.693302962,692,666,637.693302962,890,787,822,655,631,656,0.451255528719,0.00453053109363,0.049779317781,0.99999994567,3.79869802073e-06,-0.000329358728587,1.2961439736e-05,1793250283901514752
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,746.27340819,721,692,665.72659181,637.72659181,890,787,822,655,631,656,0.451588452859,0.00453096201402,0.0497617761842,0.999999932541,2.05113587191e-06,-0.00036705348307,1.36361209135e-05,1793250283918181632
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,746.860869367,721,692,665.139130633,637.139130633,890,787,822,655,631,656,0.451880973125,0.00453649722918,0.0497342212491,0.999999910617,1.19045894271e-05,-0.00042236691156,1.51778715343e-05,1793250283934848000
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,747,720.558208421,691.558208421,665,637,890,787,822,654.558208421,631,656,0.45218082076,0.00454490924951,0.0497168921968,0.999999896174,7.9477227983e-05,-0.000448400231117,1.65381500939e-05,1793250283951514880
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,746.979288561,720.020711439,691.020711439,665,636.979288561,890,787,822.020711439,654.020711439,631,656.020711439,0.452482629841,0.00455455917323,0.0497036109004,0.99999987899,0.000162589412659,-0.000463971062103,1.77411852663e-05,1793250283968181504
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,746.399642815,720.600357185,691.600357185,665,636.399642815,890,787,822.600357185,654.600357185,631,656.600357185,0.45277600677,0.00457352338827,0.049713925535,0.999999885503,0.000181676237102,-0.000442408798154,1.62205304993e-05,1793250283984848128
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.178040116,746.178040116,720.821959884,691.821959884,665,636,890,787,823,655,631,656.821959884,0.453051746149,0.00458536817654,0.0497220087134,0.999999890598,0.000193064847465,-0.000425771433337,1.5755721906e-05,1793250284001514752
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.751365127,746.751365127,720.248634873,691.248634873,665,636,890,787,823,655,631,656.248634873,0.453288326576,0.00458140640183,0.0497251376086,0.999999894064,0.000187361870736,-0.000420068339461,1.7635104575e-05,1793250284018181120
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.666959091,746.666959091,720.333040909,691.333040909,664.666959091,636,890,787.333040909,822.666959091,655,631,656.333040909,0.453497440861,0.00457719638299,0.0497225544103,0.999999894121,0.00017890215644,-0.000423560127448,1.8673924854e-05,1793250284034847744
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.078888555,746.078888555,720.921111445,691.921111445,664.078888555,636,890,787.921111445,822.078888555,655,631,656.921111445,0.453685522682,0.00457279626814,0.0497155971158,0.999999891432,0.000168331440341,-0.000434092993563,1.90690757204e-05,1793250284051514624
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,746,721,692,664.501630462,635.498369538,890,788,822.501630462,655,631,656.498369538,0.453847789715,0.00457417739672,0.049706544631,0.999999886309,0.000167156351669,-0.000446191258803,1.88297747495e-05,1793250284068181248
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,746,721,692,664.919406504,635,890,788,823,655,631,656,0.454002473263,0.00457592227593,0.0496975526666,0.999999881001,0.000166452091755,-0.000458202840029,1.85086270708e-05,1793250284084847616
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,746,721,692,664.342818846,635,890,788,823,655,631,656,0.45413510029,0.0045743934001,0.0496909309064,0.999999877483,0.000159686773733,-0.000468188352711,1.82887179293e-05,1793250284101514752
+216,3.600000000,POSE1_TO_POSE2_PRESS,770.231634342,746.231634342,720.768365658,692,664,635,890,787.768365658,823,655,631,656.231634342,0.454255738412,0.00457312461452,0.0496856137705,0.999999874349,0.000155135236955,-0.000476336323004,1.84017839039e-05,1793250284118181632
+217,3.616666667,POSE1_TO_POSE2_PRESS,770.802957323,746.802957323,720.197042677,692,664,635,890,787.197042677,823,655,631,656.802957323,0.454358794958,0.00457223724785,0.0496822098491,0.999999871927,0.000153830180944,-0.000481789561634,1.90031534117e-05,1793250284134848256
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.611782615,747,720,691.611782615,664,635,890,787,823,655,631,656.611782615,0.454446406299,0.00457151460732,0.0496793158993,0.999999869721,0.000151845686398,-0.000486959184842,1.92637290517e-05,1793250284151514880
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.019185291,747,720,691.019185291,664,635,890,787,823,655,631,656.019185291,0.454525886391,0.00457087868812,0.0496766904279,0.999999867615,0.000149503496406,-0.000491979496414,1.9344891198e-05,1793250284168181504
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,746.437371648,720.562628352,691.562628352,664,635,890,787,823,655,631,656,0.454586289731,0.00457052659152,0.049671560341,0.99999986502,0.000147105335193,-0.00049797781221,1.83697504973e-05,1793250284184848128
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,746.142317439,720.857682561,691.857682561,664,634.857682561,890,787,822.857682561,655,631,656,0.454640810893,0.0045706720404,0.0496657255639,0.999999861392,0.000146279629367,-0.000505476925214,1.76382514865e-05,1793250284201514752
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,746.71665238,720.28334762,691.28334762,664,634.28334762,890,787,822.28334762,655,631,656,0.454679413696,0.0045722990073,0.0496580060186,0.999999854689,0.000150232939768,-0.000517432512058,1.77536327076e-05,1793250284218181376
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746.709768181,720,691,663.709768181,634,890,787,822.290231819,655,631,656,0.454712865747,0.00457282846144,0.0496531378708,0.999999850485,0.000151367840801,-0.000525161853585,1.79470480039e-05,1793250284234848512
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,746.13692434,720,691,663.13692434,634,890,787,822.86307566,655,631,656,0.454741302278,0.00457228921729,0.0496510462585,0.999999848818,0.000149758327961,-0.000528775907847,1.82164486703e-05,1793250284251515392
+225,3.750000000,POSE1_TO_POSE2_PRESS,770.453286878,746.453286878,720,691.453286878,663.453286878,634,890,787,822.546713122,655,631,656,0.454762124326,0.00457369051633,0.049648294897,0.999999847086,0.000151321582226,-0.000531620932561,1.75640020153e-05,1793250284268182016
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.952749376,747,720,692,664,634,890,787,822,654.952749376,631,656,0.454779861862,0.00457550002021,0.0496453983117,0.999999845329,0.000153669589721,-0.000534273416494,1.67243817711e-05,1793250284284848640
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.377800457,747,720,692,664,634,890,787,822,654.377800457,631,656,0.454789862535,0.00457506107149,0.0496431942172,0.999999843612,0.000153651892926,-0.000537473305043,1.70281806922e-05,1793250284301515264
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,720.1969225,692,664,634,890,787,822,654.1969225,631,656,0.454797778082,0.00457575336462,0.049641063792,0.999999841713,0.000154762689076,-0.00054067807758,1.70314246833e-05,1793250284318181632
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,720.771212403,692,664,634,890,787,822,654.771212403,631,656,0.454801697849,0.00457861348423,0.0496390745413,0.999999839467,0.000158036043866,-0.000543892209225,1.64587078902e-05,1793250284334848256
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,747,720.644600322,692,663.644600322,634,890,787,822.355399678,655,631,656,0.454805710135,0.0045788933289,0.0496381022372,0.999999838744,0.000157151499015,-0.000545479429647,1.6340200935e-05,1793250284351515136
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,720.053859148,692,663.053859148,634,890,787,822.946140852,655,631,656,0.454809783686,0.00457746454567,0.0496378033434,0.999999839028,0.000153513641681,-0.000545989328417,1.65224664275e-05,1793250284368181760
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746.473881024,720.526118976,692.526118976,663,634,890,787,823,654.473881024,631,656,0.454809233669,0.00457647843907,0.049636405999,0.999999837557,0.000153853666888,-0.000548576076545,1.66915176584e-05,1793250284384848640
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,746.104191092,720.895808908,692.791617816,663,634,889.895808908,787,823,654.104191092,631,656,0.454808631539,0.00457599712305,0.0496349789366,0.999999836078,0.000154637107804,-0.000551045673192,1.67596697468e-05,1793250284401515008
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,746.678534543,720.321465457,691.642930913,663,634,889.321465457,787,823,654.678534543,631,656,0.45480988724,0.00457759323697,0.0496339150186,0.999999835379,0.000155620722751,-0.000552046491746,1.63785058299e-05,1793250284418181632
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746.747897937,720.252102063,691.252102063,663.252102063,634,889.252102063,787,823,655,631,656,0.454811030546,0.00457923349282,0.049633949163,0.999999835125,0.000157294043933,-0.000552038894242,1.61976889235e-05,1793250284434848256
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746.175316725,720.824683275,691.824683275,663.824683275,634,889.824683275,787,823,655,631,656,0.454812030972,0.00458092986332,0.0496353791944,0.99999983543,0.000159844138984,-0.000550749370353,1.62715586529e-05,1793250284451514880
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+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,720.994701514,692,663.005298486,634.994701514,890,787,822.994701514,655,631,656,0.454807844149,0.00457764840306,0.049630743626,0.9999998322,0.000157343862434,-0.000557275492055,1.69606096887e-05,1793250284484847872
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,720.415882457,692,663.584117543,634.415882457,890,787,822.415882457,655,631,656,0.45480953277,0.00458042822998,0.0496318163499,0.999999832562,0.000158776383138,-0.000556245840692,1.60489847057e-05,1793250284501514240
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,720.161690014,692,663.838309986,634,890.161690014,787,822.161690014,655,631,656,0.454810957708,0.00458239704498,0.0496324953994,0.999999832898,0.000160134245807,-0.000555270084519,1.53525761244e-05,1793250284518180864
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,720.736080639,692,663.263919361,634,890.736080639,787,822.736080639,655,631,656,0.454811709617,0.00458229581785,0.049632169627,0.999999833178,0.000161301549824,-0.000554431891497,1.52054899609e-05,1793250284534848000
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,721,692,663,634,890.683378312,787,823,654.683378312,631,656,0.454812209605,0.00458198950155,0.0496323444221,0.999999833391,0.000161357272694,-0.000554023058312,1.54720067971e-05,1793250284551514880
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,721,692,663,634,890.09760906,787,823,654.09760906,631,656,0.454812495444,0.00458150884709,0.0496329447298,0.999999833549,0.000160468084374,-0.000553979206969,1.60901111781e-05,1793250284568181760
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,746.513609986,720.513609986,691.513609986,663,634,890,787,823,654,631,656,0.454812662785,0.00458153457231,0.0496325655546,0.999999833246,0.000161307295692,-0.000554283607085,1.60720286205e-05,1793250284584848128
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+246,4.100000000,POSE1_TO_POSE2_PRESS,770,746.644799718,720.644799718,691.644799718,663,634,890.644799718,787,823,654.644799718,631.644799718,656.644799718,0.454812352299,0.00458285422596,0.0496308119999,0.999999832183,0.000161385994086,-0.000556191910233,1.54438826077e-05,1793250284618181120
+247,4.116666667,HOLD_POSE2,770,746,721,692,663,634,890,787,823,655,631,656,0.454812507373,0.00458513456939,0.0496309208794,0.999999830796,0.000165659096254,-0.000557432662992,1.53228303443e-05,1793250284657542400
+248,4.133333333,HOLD_POSE2,770,746.592087083,720.407912917,692,663.592087083,634,890,787,822.407912917,655,631,656.592087083,0.454812166066,0.00458433297971,0.0496309201887,0.99999983152,0.000162904763248,-0.000556952013553,1.50173245799e-05,1793250284674208512
+249,4.150000000,HOLD_POSE2,770.180032709,747,720,692,663.819967291,634,890,787.180032709,822,655,631,656.819967291,0.454811642099,0.00458370303664,0.04963070029,0.999999831613,0.000161205559937,-0.000557280510034,1.49940611124e-05,1793250284690875136
+250,4.166666667,HOLD_POSE2,770.758805857,747,720,692,663.241194143,634,890,787.758805857,822,655,631,656.241194143,0.454810713573,0.00458345326017,0.0496299948847,0.999999830317,0.000161843280763,-0.000559401120771,1.55959140894e-05,1793250284707542016
+251,4.183333333,HOLD_POSE2,770.663911226,747,720,692,663.336088774,634,890,787.663911226,822,655,631,656,0.454810274365,0.00458404265044,0.0496296063826,0.999999829711,0.000162475884271,-0.00056030513055,1.54340582672e-05,1793250284724208896
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+253,4.216666667,HOLD_POSE2,770,746.514637729,720.485362271,691.514637729,663.514637729,634,890,786.514637729,822.485362271,654.514637729,631,656,0.454811942145,0.00458494471035,0.0496304367829,0.999999830753,0.000163521735406,-0.000558156120317,1.47217565781e-05,1793250284757542144
+254,4.233333333,HOLD_POSE2,770,746.059815378,720.940184622,691.059815378,663.059815378,634,890,786.119630757,822.940184622,654,631,656,0.454813720903,0.00458443203314,0.049631458389,0.999999831931,0.00016376633397,-0.000555965632491,1.48703071701e-05,1793250284774208768
+255,4.250000000,HOLD_POSE2,770,746.651753669,720.348246331,691.651753669,663.651753669,634,890,787.303507338,822.348246331,654,631,656,0.454812740408,0.00458426762036,0.0496308953774,0.999999831361,0.000162816700964,-0.000557258277909,1.52608093035e-05,1793250284790875136
+256,4.266666667,HOLD_POSE2,770,747,720,691.761542063,664,633.761542063,890,787.761542063,822,654.238457937,631,656,0.454812296583,0.00458515214478,0.0496301763247,0.999999830808,0.000163095678388,-0.000558168840513,1.51920545223e-05,1793250284807542016
+257,4.283333333,HOLD_POSE2,770,747,720,691.182317488,664,633.182317488,890,787.182317488,822,654.817682512,631,656,0.454812619684,0.00458753564555,0.0496292342827,0.999999830282,0.000165130392992,-0.000558533390249,1.44670018433e-05,1793250284824208896
+258,4.300000000,HOLD_POSE2,770,746.605226083,720,691.394773917,663.605226083,633.394773917,890,787,822,655,631,656,0.454812871752,0.00458782036119,0.0496294241195,0.999999830527,0.000164477066778,-0.000558293479946,1.42126831848e-05,1793250284840875520
+259,4.316666667,HOLD_POSE2,770,746.02911449,720,691.97088551,663.02911449,633.97088551,890,787,822,655,631,656,0.45481309119,0.00458714100924,0.0496301338797,0.999999831125,0.000162589000919,-0.000557775913594,1.41745940817e-05,1793250284857542400
+260,4.333333333,HOLD_POSE2,770,746.553821574,720.553821574,692,663.553821574,634,890,787,822,655,631,656,0.454813725469,0.00458634667921,0.049630494316,0.999999831362,0.000162933419034,-0.000557239860225,1.45956729894e-05,1793250284874208768
+261,4.350000000,HOLD_POSE2,770,746.862708886,720.862708886,692,663.862708886,634,890,787,822,655,631,656,0.454813854616,0.00458591657779,0.0496304991471,0.999999831204,0.000163896687249,-0.00055723266996,1.48971956167e-05,1793250284890875392
+262,4.366666667,HOLD_POSE2,770,746.278685263,720.278685263,692,663.278685263,634,890,787,822,655,631,656,0.454812268266,0.00458669155552,0.0496294073719,0.99999982982,0.000166486986548,-0.00055894955269,1.47301688534e-05,1793250284907542016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,822,654,631,657,0.454812468057,0.00458348192165,0.0496292364762,0.999999831005,0.000158772706499,-0.000559082182792,1.44362767165e-05,1793250284944461568
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,634,890,787,822,654.573226812,631,656.426773188,0.454812550183,0.00458484111941,0.0496287039507,0.999999829841,0.000162615914311,-0.000560048825583,1.48190867641e-05,1793250284961128704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,746,720.15118158,692,663,634,890.15118158,787,822.15118158,655,631,656,0.454812922,0.00458600680631,0.0496286379842,0.999999829142,0.000165737956899,-0.000560374811093,1.50346546362e-05,1793250284977795840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746,720.74291399,692,663,634,890.74291399,787,822.74291399,655,631,656,0.454814137988,0.00458660859304,0.0496299315945,0.999999829839,0.000166758488187,-0.000558833888881,1.47628703759e-05,1793250284994462464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,746.327336149,721,692,663,634,890.672663851,787,823,655,631,656,0.45481406485,0.00458637105361,0.0496300023854,0.99999983009,0.00016548529058,-0.000558765508143,1.47134288193e-05,1793250285011129344
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746.906142306,721,692,663,634,890.093857694,787,823,655,631,656,0.454813001363,0.00458548871719,0.0496291337675,0.999999829991,0.000162449977644,-0.000559828380545,1.48347979939e-05,1793250285027795968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,746.518992171,721,692,663.962015658,634,890,787,823,655,630.518992171,656,0.454812412859,0.00458506874554,0.0496292404469,0.999999829822,0.000162183766254,-0.000560208439083,1.48185295433e-05,1793250285044462336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,746,721,692,664.944870821,634,890,787,823,655,630.055129179,656,0.454811725244,0.0045847855747,0.0496293829772,0.999999829548,0.000162579095234,-0.000560582063224,1.48108587117e-05,1793250285061129216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,746,721,692,664.370575178,634,890,787,823,655,630.629424822,656,0.454809238552,0.00458494797265,0.0496280855149,0.999999828411,0.00016415727189,-0.000562139612446,1.51350169655e-05,1793250285077795584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.21008192,746.21008192,721,692,663.78991808,634,890,787,823,655,631,656,0.454802723757,0.00458535223326,0.0496246911232,0.999999825564,0.000164576323371,-0.000567060773808,1.51065455901e-05,1793250285094462208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.80231068,746.80231068,721,692,663.19768932,634,890,787,823,655,631,656,0.454788881691,0.00458619645108,0.0496174823389,0.99999981953,0.000162886882785,-0.000578100470773,1.44366277426e-05,1793250285111128832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.613406011,747,721,692.386593989,663,634,890,787,822.613406011,655,631,656,0.454755063205,0.00458623163118,0.0496019141421,0.999999803921,0.00016222639367,-0.000604683377936,1.40727448881e-05,1793250285127795456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.033103825,747,721,692.966896175,663,634,890,787,822.033103825,655,631,656,0.454711235259,0.00458586143196,0.0495821573469,0.999999782573,0.000162081474432,-0.000639054423217,1.38622049717e-05,1793250285144462336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,746.459622727,721,692.459622727,663.540377273,634,890,787,822.540377273,655,631,656,0.454649820519,0.00458593153458,0.0495608101925,0.999999758725,0.000163540361285,-0.000674990573779,1.38425821999e-05,1793250285161128960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,746.114410117,720.885589883,692,663.885589883,634,890,787,822.885589883,654.885589883,631,656,0.454586515165,0.00458648755117,0.0495412892079,0.99999973691,0.00016489087086,-0.000706262747888,1.35446641959e-05,1793250285177795584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,746.69235039,720.30764961,692,663.30764961,634,890,787,822.30764961,654.30764961,631,656,0.454519860568,0.00458890431898,0.0495295567053,0.999999728302,0.000165409197212,-0.00071825532404,1.20724448561e-05,1793250285194461952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,746.723533713,720,692,663,634,890,787,822.276466287,654.276466287,631,656,0.454445709606,0.004590021642,0.0495234667916,0.999999723788,0.000167182735675,-0.000724115095359,1.14173520694e-05,1793250285211128832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,746.132388646,720,692,663,634,890,787,822.867611354,654.867611354,631,656,0.454363026155,0.00458965991403,0.0495237993723,0.999999724056,0.00017038497858,-0.000722994399937,1.16923271577e-05,1793250285227795456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,746,720,692,663.446875881,634,889.553124119,787,822.553124119,655,631.446875881,656,0.454269184637,0.00459126314726,0.0495285763277,0.999999728923,0.000172931507222,-0.000715630327056,1.10105768088e-05,1793250285244462080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,746.022983426,720,692,664,634,889.022983426,787,822,655,631.977016574,656,0.454171006741,0.00459342325939,0.0495346365042,0.999999734932,0.000175432256761,-0.000706581252993,1.01004111183e-05,1793250285261128960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,746.605703831,720,692,664,634,889.605703831,787,822,655,631.394296169,656,0.45404564088,0.00459533562745,0.0495407126708,0.999999738226,0.000181426530121,-0.000700374828454,1.03513918014e-05,1793250285277795584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,746.811957003,720.188042997,692,664,634,890,787,822,654.811957003,631,656,0.453908176316,0.0045969863287,0.0495453767953,0.99999974092,0.00018621363157,-0.000695255853003,1.01552896834e-05,1793250285294462208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,746.230415689,720.769584311,692,664,634,890,787,822,654.230415689,631,656,0.45374539405,0.00459808946639,0.049547086083,0.99999974248,0.000188474607289,-0.000692412471728,9.02362315433e-06,1793250285311128832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,746.349684779,721,692,664,634.349684779,890,787,822,654,631,656,0.453559025295,0.00459966383607,0.0495489086407,0.999999742809,0.000191192622067,-0.000691201500044,8.17868512783e-06,1793250285327795456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,746.928839792,721,692,664,634.928839792,890,787,822,654,631,656,0.453357178592,0.00460154743784,0.0495508055287,0.99999974233,0.000194210555357,-0.000691061748316,7.52190404029e-06,1793250285344462080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,634.494924804,890,787,821.494924804,654.505075196,631.505075196,656,0.453128677994,0.00460588698053,0.0495539197755,0.999999740285,0.000202276176331,-0.000691715102784,6.71566028398e-06,1793250285361128704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,720.918494436,692,664,634.081505564,890,787,821,655,631.918494436,656,0.452893894183,0.00461002955996,0.0495578035087,0.999999739085,0.000210371182059,-0.000691041491667,5.98534096831e-06,1793250285377795328
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,720.338369111,692,664,634.661630889,890,787,821,655,631.338369111,656,0.452643513287,0.00461086255445,0.0495653514388,0.999999744747,0.000214320293709,-0.000681570355319,5.84758130211e-06,1793250285394461952
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746.755087316,720.244912684,692,664,635,890,787,821,655,631,656.244912684,0.452368313148,0.00461337868228,0.0495731961925,0.999999749324,0.000219593419409,-0.00067313044596,5.16890954406e-06,1793250285411128832
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,746.167387668,720.832612332,692,664,635,890,787,821,655,631,656.832612332,0.452058375285,0.00461825057276,0.0495814563887,0.999999752425,0.000226719673725,-0.000666133872697,3.7331613896e-06,1793250285427795968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,746,720.591210582,692,664.408789418,635,889.591210582,787,820.591210582,655,631,656.591210582,0.451715344182,0.00462300014427,0.0495845806661,0.999999752748,0.000235453687266,-0.000662615959277,2.32173728131e-06,1793250285444462592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,746,720.019622327,692,664.980377673,635,889.019622327,787,820.019622327,655,631,656.019622327,0.451359133828,0.00462770100259,0.0495856595831,0.99999975191,0.000244827984646,-0.000660483409099,9.20000166523e-07,1793250285461129216
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,746.559080769,720,691.440919231,665,635.559080769,889.559080769,787,820,654.440919231,631,656,0.450984307897,0.00463133467129,0.0495879243078,0.999999761094,0.00024915609167,-0.000644771744092,-1.7862654477e-06,1793250285477795840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,747,720.140648744,691,665,636,890,787.140648744,820,654,631,656,0.450604637041,0.0046347303847,0.04959450465,0.999999773144,0.000253905580001,-0.00062388059414,-4.1471889346e-06,1793250285494462208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,747,720.730559723,691,665,636,890,787.730559723,820,654,631,656,0.450211604403,0.00463748720081,0.049614735346,0.999999793172,0.000260574064628,-0.000587987024551,-5.25688071275e-06,1793250285511128832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,746.685434419,720.685434419,691,665,636.314565581,890,787.685434419,819.685434419,654.314565581,631,656,0.449787080703,0.00464253242864,0.0496340254998,0.999999811546,0.000268748756667,-0.000551934248957,-7.13296629509e-06,1793250285527795456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,746.106393312,720.106393312,691,665,636.893606688,890,787.106393312,819.106393312,654.893606688,631,656,0.449336080395,0.00464950167179,0.0496525248815,0.999999828261,0.000278189814866,-0.00051574761453,-9.65340858712e-06,1793250285544462336
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,746.470286203,720.470286203,691,665.470286203,637,890,787,819,654.529713797,631,656,0.448818326023,0.00465306334838,0.0496577581474,0.999999829248,0.000283941299507,-0.00051062928438,-1.1806450968e-05,1793250285561129216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,746.952866953,721,691,666,637,889.952866953,787,819,654.047133047,631,656,0.448283565747,0.00465586578608,0.0496587325473,0.999999826313,0.000288817672097,-0.000513580439563,-1.39266692726e-05,1793250285577796096
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,746.368046442,721,691,666,637,889.368046442,787,819,654.631953558,631,656,0.447726222948,0.00465875728077,0.0496451886694,0.999999817065,0.0002931854081,-0.000528806353208,-1.66158891579e-05,1793250285594462464
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,746.214724067,720.785275933,691,666,637.214724067,889,787.214724067,819,654.785275933,631,656,0.447149205508,0.00466131946659,0.0496320596689,0.9999998062,0.000298527747346,-0.00054599643788,-1.91966022551e-05,1793250285611128832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,746.794013977,720.205986023,691,666,637.794013977,889,787.794013977,819,654.205986023,631,656,0.446538783827,0.00466332254038,0.0496196350623,0.999999792621,0.000305524800956,-0.000566521358201,-2.15930886666e-05,1793250285627795456
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,746.628342522,720,691,666.371657478,638.371657478,889,787.628342522,819,654,631,656,0.445929050089,0.00466467207923,0.0496311269531,0.999999800973,0.000309846123269,-0.000549081884696,-2.36475405927e-05,1793250285644462080
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,746.051607516,720,691,666.948392484,638.948392484,889,787.051607516,819,654,631,656,0.445319695972,0.00466566100282,0.0496558157702,0.999999820383,0.000312690998581,-0.000510693970756,-2.55132606088e-05,1793250285661128704
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,746.52354246,720,690.47645754,667.52354246,639,889.52354246,787.52354246,819,654,631,656,0.444663834402,0.0046662155637,0.0496986612577,0.999999844972,0.000315867446831,-0.000457792092214,-2.66557608191e-05,1793250285677795072
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769.901150447,746.901150447,720,690,667.901150447,639,889.901150447,787.901150447,819,654,630.901150447,656,0.443991641224,0.0046644483698,0.0497349965582,0.999999869391,0.000297926298796,-0.000414311346407,-2.83640903899e-05,1793250285694461696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,769.32433063,746.32433063,720,690,667.32433063,639,889.32433063,787.32433063,819,654,630.32433063,656,0.443262579776,0.00465166113203,0.0497312249292,0.999999894075,0.000177717028384,-0.000423281914579,-3.3152064164e-05,1793250285711128576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,769.258985927,746,720,690,667.517971854,639.258985927,889,787.258985927,819,654,630.258985927,656,0.442546129098,0.00462824089494,0.0497361160958,0.999999910683,8.41531745701e-05,-0.000412709667854,-3.4982043151e-05,1793250285727795200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,769.85064784,746,720,690,668.701295679,639.85064784,889,787.85064784,819,654,630.85064784,656,0.441845877268,0.00459116221695,0.0497521349093,0.99999992807,2.48162247005e-05,-0.000377034035322,-3.30123810782e-05,1793250285744461824
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,746,720,690,669,640,889,788,819,654,631,656,0.441111105975,0.00457881387388,0.0497895681023,0.999999950406,1.26169917292e-05,-0.000312885954209,-3.36334020056e-05,1793250285761128704
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,746,720,689.986549383,669,640,889,788,819,654,631,656,0.440362083152,0.00457512596766,0.0498328789874,0.999999970096,1.67749759213e-05,-0.000241431479848,-3.51881214189e-05,1793250285777795072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,746,720,689.41246972,669,640,889,788,819,654,631,656,0.43950487471,0.00458435437427,0.0498197888416,0.999999963038,3.9293191955e-05,-0.00026616442057,-3.91985687723e-05,1793250285794461696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,769.835035058,746,720,689,669,640,888.835035058,788,819,654,630.835035058,656,0.438644431767,0.00459285996095,0.0498013406244,0.999999952288,5.91521136426e-05,-0.000300122555267,-4.30234508387e-05,1793250285811128320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,769.249037622,746,720,689,669,640,888.249037622,788,819,654,630.249037622,656,0.437775733607,0.00459952072672,0.049769217247,0.999999932368,7.22238383305e-05,-0.000357625730209,-4.6374722854e-05,1793250285827794944
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769.334974104,746,720.334974104,689,669,640,888.334974104,788,819,654,630.334974104,656,0.436913721068,0.00460332847883,0.0497691652965,0.999999929976,7.9654327036e-05,-0.000362325102913,-4.92360611849e-05,1793250285844461824
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769.917518221,746,720.917518221,689,669,640,888.917518221,788,819,654,630.917518221,656,0.436056649725,0.00460502764785,0.0497928164441,0.999999941433,8.29155351184e-05,-0.000327998656549,-5.17353030926e-05,1793250285861128448
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,746,720.507343099,688.507343099,669.492656901,640,889,788,819,654,631,656,0.435141691808,0.00460627408274,0.0497810583476,0.999999931665,6.88657303333e-05,-0.000359052101166,-5.48628983275e-05,1793250285877795072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769.933485977,746,720,688.066514023,669.933485977,640,888.933485977,788,819,654,631,656,0.434221958833,0.00460544320918,0.0497666580519,0.999999919763,5.80254997877e-05,-0.000392485971913,-5.53331912751e-05,1793250285894461952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,769.360087038,746,720,688.639912962,669.360087038,640,888.360087038,788,819,654,631,656,0.433338599503,0.00458935082366,0.0497766311794,0.999999929555,9.34042336087e-05,-0.000361878863016,-3.47630891286e-05,1793250285911128576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769.22081601,746,720,688.77918399,669.22081601,640.22081601,888,788,818.77918399,654,631,656,0.432452635631,0.00458113530952,0.0497899779648,0.999999936448,0.000125373896874,-0.000333053618731,-2.14858712583e-05,1793250285927795200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769.814386671,746,720,688.185613329,669.814386671,640.814386671,888,788,818.185613329,654,631,656,0.431562274944,0.00458621656621,0.0498090197497,0.999999941103,0.000151588789034,-0.000307236296955,-2.05196077716e-05,1793250285944461824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,746,720,687.601945333,669.601945333,641,888,788,818,654,631,656,0.430623908768,0.00459424062794,0.0497925849589,0.999999930518,0.00016228983286,-0.000334681207815,-2.47785738009e-05,1793250285961128448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,746,720,687.022782907,669.022782907,641,888,788,818,654,631,656,0.429663701008,0.00460360361305,0.049760008959,0.999999911103,0.000165932351141,-0.000386359483302,-3.14149258624e-05,1793250285977795072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,687.551199382,669,640.448800618,888,788,818,654,631,656,0.428743935032,0.00460374442852,0.049766822266,0.999999917693,0.000160308754379,-0.000371117188029,-3.44580766816e-05,1793250285994461952
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,746,720,687.87210304,669.12789696,640,888,788.12789696,818,654,631,656,0.427814541416,0.0046046963589,0.049771537704,0.999999921721,0.000151015688346,-0.00036390752774,-3.63738780369e-05,1793250286011128832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746,720,687.284892348,669.715107652,640,888,788.715107652,818,654,631,656,0.426844625028,0.00460991741901,0.0497629266145,0.999999912792,0.000129907184651,-0.00039538647839,-3.47694594486e-05,1793250286027795712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,746,719.700621259,687,669.700621259,640,887.700621259,788.700621259,818,654,631,656,0.425916442947,0.00461080135845,0.0497639006628,0.99999991651,0.000124485654794,-0.000387583969304,-3.55254808514e-05,1793250286044462336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,746,719.119120363,687,669.119120363,640,887.119120363,788.119120363,818,654,631,656,0.425027589609,0.00460759817428,0.0497739073492,0.999999931557,0.000133846882042,-0.000342764233604,-3.85058834415e-05,1793250286061128704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,746,719.456588068,687,669.456588068,640.456588068,887,788.456588068,818,654,631,656,0.424160000487,0.00459982528095,0.0498059700293,0.999999949515,0.000131653974239,-0.000286579815299,-3.88425815073e-05,1793250286077795328
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769.969146649,746,720,687,669.969146649,641,887,788.969146649,818,654,631,656,0.423294029356,0.00459156697945,0.0498406364392,0.999999964202,0.000126550113221,-0.000232583265678,-3.85379390229e-05,1793250286094462208
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769.394015417,746,720,687,669.394015417,641,887,788.394015417,818,654,631,656,0.422359962624,0.0045955136375,0.0498209969055,0.999999955591,0.000122604741998,-0.000268831591563,-3.89343693284e-05,1793250286111128576
+334,5.566666667,POSE2_TO_POSE3_RETREAT,769.186737948,745.813262052,719.813262052,687,669,641,886.813262052,788,818,654,631,656,0.421432649416,0.00460031253105,0.0498042783231,0.999999946549,0.000124500422251,-0.000299776803834,-3.91981941881e-05,1793250286127794944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,769.779722312,745.220277688,719.220277688,687,669,641,886.220277688,788,818,654,631,656,0.420520028246,0.00460696545458,0.0497939142357,0.999999938618,0.000139103247288,-0.000319185156362,-3.91735374684e-05,1793250286144461824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769.636038158,745,719,686.636038158,669,641,886,788,818,654,631,656,0.419619800893,0.00461224083125,0.0497926344362,0.999999932713,0.000145942937559,-0.000334306734103,-3.89088311977e-05,1793250286161128960
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769.056967049,745,719,686.056967049,669,641,886,788,818,654,631,656,0.418726898605,0.00461670204772,0.0497967236466,0.99999992811,0.000148194447542,-0.000346894734719,-3.85022504909e-05,1793250286177795840
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,745,719,686,669,641,886,788,818,654,631,656,0.417874105388,0.00461483746749,0.0497765380749,0.999999918618,0.000140490450363,-0.000376092826626,-3.97666579575e-05,1793250286194462208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769.093427207,745.093427207,719,686,669.093427207,641,885.906572793,788,818,654,631,656,0.41703631447,0.00461130275893,0.0497615076634,0.999999912819,0.000131909656067,-0.000394062861551,-4.09520625387e-05,1793250286211128576
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.680920584,745.680920584,719,686,669.680920584,641,885.319079416,788,818,654,631,656,0.416254716373,0.00460258600538,0.049787745646,0.999999932578,0.000124436504435,-0.000343072075766,-4.07555144913e-05,1793250286227795456
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770,745.73532313,719.26467687,685.73532313,669.73532313,641,885.52935374,788,818,654,630.73532313,656,0.415473335648,0.00459871391763,0.049805509178,0.999999944212,0.000119698462218,-0.000309153735833,-4.08983134102e-05,1793250286244462080
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770,745.156009385,719.843990615,685.156009385,669.156009385,641,886.687981229,788,818,654,630.156009385,656,0.414692213381,0.00460060096808,0.0498131986329,0.999999948485,0.000118211805336,-0.00029553041516,-4.14445140216e-05,1793250286261128704
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,745,720,685,668.57869022,641,886.57869022,788.42130978,818,654,630.42130978,656,0.413900222968,0.00460398436544,0.0497948550214,0.999999937381,0.000123999944458,-0.000328807340928,-4.18141935057e-05,1793250286277795328
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,745,720,685,668.002106112,641,886.002106112,788.997893888,818,654,630.997893888,656,0.413104227019,0.00460791924379,0.0497669168862,0.999999918378,0.000132469219751,-0.000379369418388,-4.2118815825e-05,1793250286294461952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,745,720,685,668.57147268,641,885.42852732,788.42852732,817.42852732,654,630.42852732,656,0.412412261999,0.00461054765725,0.0497806258387,0.999999925746,0.000140781319294,-0.000356273654741,-4.19206911182e-05,1793250286311129088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,745,720,684.850641738,669,641,885.149358262,788,817,654,630.149358262,656,0.411721489745,0.00461217067631,0.0497957917564,0.999999933264,0.00014520319581,-0.00033264310948,-4.166575565e-05,1793250286327795968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,745,720,684.259998895,669,641,885.740001105,788,817,654,630.740001105,656,0.411033114561,0.00461083737183,0.0498148112259,0.999999942106,0.00013813296732,-0.000308230368074,-4.12484162765e-05,1793250286344462336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745,720,684.324210317,668.675789683,641,885.675789683,788,817,654,631,656,0.410348262644,0.00460826395605,0.0498075858648,0.999999937044,0.000130334661348,-0.000327483696605,-4.09754651909e-05,1793250286361128448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,745,720,684.903360466,668.096639534,641,885.096639534,788,817,654,631,656,0.409666181257,0.00460471539012,0.0497797231187,0.999999919121,0.000121963838445,-0.000381073442758,-4.08160524674e-05,1793250286377795072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,745,719.519850937,684.519850937,668.480149063,641,885,788,817,654,630.519850937,656,0.409075866822,0.00459860953418,0.0497847741511,0.999999927187,0.000116499651494,-0.000360984196081,-4.17641641952e-05,1793250286394461696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,745,719,684,669,641,885,788,817,654.056200259,630.056200259,656,0.408507360672,0.00459273043423,0.0497970680616,0.999999939067,0.000112398698005,-0.000327730254698,-4.27208646248e-05,1793250286411128320
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,745,719,684,669,641,885,788,817,654.629817074,630.629817074,656,0.407970421928,0.00459365452269,0.0498153531966,0.999999944679,0.000115488867646,-0.000309134109366,-4.1714415054e-05,1793250286427794688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,745.20958227,719.20958227,684,669,641,885.20958227,788,817.20958227,654.79041773,631,656,0.407430953258,0.0045948267768,0.0498242006976,0.99999994638,0.000115426237692,-0.000303703805286,-4.10011777753e-05,1793250286444461312
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,745.800535439,719.800535439,684,669,641,885.800535439,788,817.800535439,654.199464561,631,656,0.406886881013,0.00459645061078,0.0498158748023,0.999999941241,0.000109626547632,-0.000322231010391,-4.08214906916e-05,1793250286461128192
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.615709747,746,720,684,669,641,885.615709747,788,818,654,631,656,0.406363880617,0.00460028303237,0.0497961608172,0.999999929627,0.000110892389498,-0.00035601259488,-4.12778027215e-05,1793250286477794560
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769.035622463,746,720,684,669,641,885.035622463,788,818,654,631,656,0.40585161634,0.0046052407361,0.0497706445656,0.999999913386,0.000115758140299,-0.00039756633241,-4.20581581273e-05,1793250286494461184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.460460353,719.460460353,684,669,641,885,788,817.460460353,654.539539647,631,656,0.405409036606,0.00460813742703,0.0497675781311,0.999999910561,0.000121015819851,-0.000402982001234,-4.28828725137e-05,1793250286511128064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.114407202,745,719.114407202,683.885592798,669,641,885,788,817.114407202,654.885592798,631,656,0.404987756717,0.00461083319563,0.0497708011557,0.999999912168,0.000125983892098,-0.000397339273471,-4.37490980931e-05,1793250286527794432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769.68938637,745,719.68938637,683.31061363,669,641,885,788,817.68938637,654.31061363,631,656,0.404633869851,0.00461326295581,0.049793430771,0.999999926973,0.00012968285649,-0.000356696862938,-4.47707528494e-05,1793250286544461056
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,745.866406022,720,683.866406022,669,641,885,788,817.133593978,654,630.133593978,656,0.403963814175,0.00461292400949,0.0498508977718,0.999999953075,0.000133943130361,-0.000272048895096,-4.35754104329e-05,1793250286577794304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,745.553496383,719.553496383,683.553496383,669,640.553496383,884.553496383,788,817,654,630.446503617,656,0.40364656292,0.00461488847819,0.0498561018218,0.999999953167,0.000139651424852,-0.000268749137538,-4.40221223247e-05,1793250286594461184
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,745,719.022699212,683,669,640.022699212,884,788,817,654,630.977300788,656,0.403333195302,0.00461758942851,0.0498532428549,0.999999949678,0.000146269202464,-0.000277903420491,-4.49346272692e-05,1793250286611128064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,745,719.598796452,683,669,640.598796452,884,788,817,654,630.401203548,656,0.403038046245,0.00461632222062,0.0498364318244,0.999999940335,0.000145609573122,-0.000309923481337,-4.55634502887e-05,1793250286627794688
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,641,884,788,817,654.178671627,630,656,0.402757486365,0.00461503700474,0.0498206435045,0.999999931146,0.000144465296554,-0.000338635608024,-4.650828222e-05,1793250286644461312
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,745,719.49655401,683,669,641,884,787.49655401,817,654.50344599,630.49655401,655.49655401,0.401932826808,0.00457894501779,0.0498065564697,0.999999935527,8.37955380554e-05,-0.000348042930806,-2.81286281431e-05,1793250286711127808
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,745,719.077456168,683,669,640.922543832,884.077456168,787.077456168,817.077456168,654.922543832,630.077456168,655.077456168,0.401785606493,0.00457526675127,0.0498153383976,0.99999994101,8.10057461637e-05,-0.000332530793706,-2.90040733383e-05,1793250286727794688
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745,719.649432194,683,669,640.350567806,884.649432194,787.649432194,817.649432194,654.350567806,630.649432194,655.649432194,0.401669235473,0.00458286252674,0.0498252082938,0.999999946322,9.03875504828e-05,-0.00031337444773,-3.13408417695e-05,1793250286744462080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,745.230260677,719.769739323,683,669,640,885,788,817.769739323,654,631,656,0.401558030378,0.00458602178833,0.0498321788808,0.999999949876,9.4451300008e-05,-0.000300427754249,-3.27053552101e-05,1793250286761128960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,745.825105704,719.174894296,683,669,640,885,788,817.174894296,654,631,656,0.401455004782,0.00458215647388,0.049834558832,0.999999951215,9.00946813634e-05,-0.000297313145261,-3.25304439084e-05,1793250286777795584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,746,719.409131835,683,669,640,885.409131835,788,817,654,631,656,0.401365063675,0.00458248921072,0.0498339833379,0.99999995136,9.20817324879e-05,-0.000296108300781,-3.34644095425e-05,1793250286794462208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,746,719.988652271,683,669,640,885.988652271,788,817,654,631,656,0.401280571788,0.0045845702841,0.0498321770077,0.999999950997,9.67106925876e-05,-0.000295698804172,-3.48601822915e-05,1793250286811128576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,746,720,683,669,640.561894063,884.876211875,788,817,654,631,656,0.401218937076,0.00458513169488,0.0498324770523,0.999999951186,9.6907000194e-05,-0.000294950390308,-3.52462155209e-05,1793250286827794944
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,745.861366495,720,683,669,641,884.138633505,788,817,654.138633505,630.861366495,656,0.401163069692,0.00458544850882,0.0498333717251,0.999999951826,9.70723485335e-05,-0.000292681471683,-3.55381223979e-05,1793250286844461568
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,745.532277501,719.532277501,683,669,641,885.467722499,787.467722499,817,654.532277501,630,656,0.40103937761,0.00458623948602,0.0498409131309,0.999999956413,9.67354515104e-05,-0.000276576468094,-3.63482359705e-05,1793250286911128576
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,745,719.619684083,683,669,641,884.760631835,788,817,654.619684083,630,656,0.401008978916,0.00458593277134,0.049841260748,0.999999956801,9.92789049033e-05,-0.000274263020168,-3.63429137302e-05,1793250286944461824
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,745.628304283,720,683,669,641,884.628304283,788,817,654,630.628304283,656,0.400993588231,0.00458392062066,0.049843539445,0.999999958913,9.34016249351e-05,-0.000268626072366,-3.59076190508e-05,1793250286994461440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,745.047492706,720,683,669,641,884.047492706,788,817,654,630.047492706,656,0.400990817839,0.00458344631515,0.0498452826279,0.99999995932,9.40222339089e-05,-0.000266940932918,-3.5533784789e-05,1793250287011128320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,745,719.47268552,683,669,640.47268552,884,787.47268552,817,654,630,656,0.400990122111,0.00458422771511,0.0498459039669,0.999999959694,9.47702042806e-05,-0.000265242818026,-3.57363732645e-05,1793250287027794944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,745,719.101476092,682.898523908,669,640,884.101476092,787,817,654.101476092,630.101476092,656,0.400989976918,0.00458499970287,0.0498465729929,0.999999960084,9.55890696387e-05,-0.000263445013003,-3.5928474103e-05,1793250287044461568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,745,719.675121628,682.324878372,669,640,884.675121628,787,817,654.675121628,630.675121628,656,0.400991533722,0.00458520758559,0.04984792875,0.999999960574,9.668503695e-05,-0.000261188725616,-3.58329312841e-05,1793250287061128192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,745,720,682.258083541,669,640,884.741916459,787,817,654.741916459,631,656,0.400992098053,0.0045851540071,0.0498489731368,0.999999960995,9.68732581509e-05,-0.000259504073971,-3.58089152724e-05,1793250287077794816
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,745,720,682.853212294,669,640,884.146787706,787,817,654.146787706,631,656,0.400991366261,0.00458475897235,0.0498496108887,0.999999961332,9.58760049184e-05,-0.000258565951947,-3.58783099618e-05,1793250287094461440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,640,884,787.435250872,817,654.435250872,630.564749128,656,0.400990696916,0.004584691001,0.0498493370424,0.999999961206,9.69382708065e-05,-0.000258669614638,-3.57892790826e-05,1793250287111128064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,745.012905985,719.987094015,683,669,640.012905985,884.012905985,788,817,655,630.012905985,656,0.400990061075,0.00458470522798,0.0498487877122,0.999999960944,9.85592205898e-05,-0.000259090237593,-3.56495875593e-05,1793250287127794688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,745.586318773,719.413681227,683,669,640.586318773,884.586318773,788,817,655,630.586318773,656,0.40098999242,0.00458363879317,0.0498492361905,0.999999961438,9.51593831911e-05,-0.000258463242658,-3.55623672064e-05,1793250287144461312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,745.835742549,719.164257451,683,669,641,884.835742549,788,817,654.835742549,631,656,0.400990195251,0.00458326844684,0.0498497666884,0.999999961823,9.3145358151e-05,-0.00025771351254,-3.55163792564e-05,1793250287161128192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,745.246082514,719.753917486,683,669,641,884.246082514,788,817,654.246082514,631,656,0.400991101186,0.00458470086714,0.0498505096052,0.999999961948,9.47203830266e-05,-0.000256645916434,-3.55771771575e-05,1793250287177794816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,745.337264835,720,683,669.337264835,641,884,787.662735165,817,654.337264835,630.662735165,656,0.400991264277,0.0045846266206,0.0498508329018,0.999999962121,9.47144181283e-05,-0.000255966884518,-3.56118295936e-05,1793250287194461184
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,745.916090787,720,683,669.916090787,641,884,787.083909213,817,654.916090787,630.083909213,656,0.400990895317,0.00458347324544,0.0498508556515,0.99999996233,9.35760918354e-05,-0.000255566156196,-3.56277557117e-05,1793250287211128064
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,745.507138517,719.507138517,683,669.507138517,641,884,787.492861483,817,654.507138517,630.492861483,656,0.400990245839,0.00458393838348,0.0498513578062,0.999999962343,9.43641349886e-05,-0.0002552279532,-3.56090076986e-05,1793250287227794688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,745.06920058,719,683,669,641,884,788.06920058,817,654,630.93079942,656,0.400989720561,0.00458453468802,0.0498518572014,0.999999962326,9.53797064588e-05,-0.000254921453818,-3.55679244243e-05,1793250287244461312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,745.644930768,719,683,669,641,884,788.644930768,817,654,630.355069232,656,0.400990452521,0.00458408251691,0.0498517414552,0.999999962343,9.56700943253e-05,-0.000254769422434,-3.54063837435e-05,1793250287261127936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,746,719,683,669,640.77437333,884,788.77437333,817,654,630,656,0.400990847289,0.00458424099257,0.0498516746643,0.999999962335,9.6255170172e-05,-0.000254587471129,-3.53590221393e-05,1793250287277794816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,746,719,683,669,640.185686924,884,788.185686924,817,654,630,656,0.400990699475,0.00458538207029,0.0498516866484,0.999999962286,9.73144335356e-05,-0.000254357375142,-3.54953880159e-05,1793250287294461440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.604022307,745.604022307,719.395977693,683,669,640.395977693,884.395977693,787.604022307,817.395977693,654,630,656,0.400990809111,0.00458559476619,0.0498521673768,0.99999996237,9.74192346453e-05,-0.000253975832664,-3.55640257654e-05,1793250287311128064
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.025593099,745.025593099,719.974406901,683,669,640.974406901,884.974406901,787.025593099,817.974406901,654,630,656,0.40099103737,0.00458537969886,0.0498528640848,0.999999962516,9.70842556567e-05,-0.000253524509395,-3.56014569524e-05,1793250287327794688
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769.551304054,745,720,683,669,641,885,787.551304054,817.448695946,654,630.551304054,656,0.400990627345,0.00458470128934,0.0498528916513,0.999999962201,9.76941479845e-05,-0.000254576554114,-3.52932079116e-05,1793250287344461568
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72400964cd1793509669f036e6be0e1c28c546eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+168,2.800000000,pose1_to_pose2_press,0.595712941155,0.0101501065538,1.04003381515,0.566283621635,0.0188227472247,1.03970520847
+169,2.816666667,pose1_to_pose2_press,0.596458500518,0.0101501720323,1.04003349524,0.567029178942,0.0188228060322,1.03970489658
+170,2.833333333,pose1_to_pose2_press,0.597204284618,0.0101501628937,1.04003349204,0.567774961936,0.0188227931454,1.03970489355
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+172,2.866666667,pose1_to_pose2_press,0.598696125521,0.0101500941022,1.04003349488,0.569266804779,0.0188227308359,1.03970489387
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+177,2.950000000,pose1_to_pose2_press,0.602461344342,0.0101501529387,1.04003358669,0.573032022286,0.0188227847872,1.03970497469
+178,2.966666667,pose1_to_pose2_press,0.603193146118,0.0101500748377,1.04003361797,0.573763825153,0.0188227105493,1.03970501039
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+187,3.116666667,pose1_to_pose2_press,0.6093345761,0.0101500367414,1.04003346169,0.579905255498,0.0188226736119,1.03970485324
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+189,3.150000000,pose1_to_pose2_press,0.610506612032,0.0101500429027,1.04003358419,0.581077290855,0.0188226778079,1.03970497564
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+191,3.183333333,pose1_to_pose2_press,0.611582523532,0.0101501363845,1.04003351579,0.582153200492,0.0188227650525,1.03970490965
+192,3.200000000,pose1_to_pose2_press,0.612100058112,0.0101501438461,1.04003352841,0.582670735618,0.0188227742815,1.0397049213
+193,3.216666667,pose1_to_pose2_press,0.612607719747,0.0101501530749,1.04003334113,0.583178397878,0.0188227856692,1.03970473523
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+196,3.266666667,pose1_to_pose2_press,0.614012456698,0.0101501737425,1.04003343416,0.58458313371,0.0188228029193,1.03970483599
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+198,3.300000000,pose1_to_pose2_press,0.614845190437,0.0101500879252,1.04003342074,0.585415868856,0.018822721762,1.03970481567
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+264,4.400000000,pose2_to_pose3_retreat,0.619549251997,0.0101502346625,1.04003364222,0.590119930111,0.0188228690692,1.03970503664
+265,4.416666667,pose2_to_pose3_retreat,0.619549168181,0.010150222734,1.04003357012,0.590119845993,0.0188228561938,1.03970496658
+266,4.433333333,pose2_to_pose3_retreat,0.61954913424,0.0101502181732,1.0400335419,0.590119811977,0.0188228513986,1.03970493898
+267,4.450000000,pose2_to_pose3_retreat,0.619549125501,0.0101502169988,1.04003353463,0.590119803218,0.0188228501638,1.03970493188
+268,4.466666667,pose2_to_pose3_retreat,0.619549049338,0.0101502067643,1.04003347131,0.590119726884,0.0188228394032,1.03970486997
+269,4.483333333,pose2_to_pose3_retreat,0.619548603662,0.0101501873477,1.04003338226,0.590119280479,0.0188228174748,1.03970477987
+270,4.500000000,pose2_to_pose3_retreat,0.619547325825,0.0101501700862,1.04003344188,0.590118001829,0.0188227970908,1.03970482992
+271,4.516666667,pose2_to_pose3_retreat,0.619544303099,0.0101501228575,1.04003356385,0.590114981635,0.0188227584577,1.03970495187
+272,4.533333333,pose2_to_pose3_retreat,0.619536264501,0.0101501830603,1.04003359023,0.590106942313,0.0188228163991,1.03970498314
+273,4.550000000,pose2_to_pose3_retreat,0.619521478478,0.0101502612059,1.04003372669,0.590092154813,0.018822889501,1.03970512069
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+275,4.583333333,pose2_to_pose3_retreat,0.619463546383,0.0101501776886,1.0400335449,0.590034224184,0.0188228110091,1.03970493999
+276,4.600000000,pose2_to_pose3_retreat,0.619421238004,0.0101501153172,1.04003345776,0.589991917476,0.0188227544017,1.03970485253
+277,4.616666667,pose2_to_pose3_retreat,0.619372241725,0.0101500502078,1.0400335984,0.589942922446,0.0188226933931,1.03970498887
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+279,4.650000000,pose2_to_pose3_retreat,0.619255955328,0.0101500533477,1.04003363049,0.589826634014,0.0188226894145,1.03970501808
+280,4.666666667,pose2_to_pose3_retreat,0.619189310426,0.0101500331168,1.04003353554,0.589759989885,0.0188226717577,1.03970492182
+281,4.683333333,pose2_to_pose3_retreat,0.619113079863,0.0101500231666,1.04003341849,0.589683758918,0.0188226607201,1.03970480941
+282,4.700000000,pose2_to_pose3_retreat,0.61902645497,0.0101501715235,1.04003328639,0.589597132686,0.0188228046723,1.0397046875
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+286,4.766666667,pose2_to_pose3_retreat,0.618531816042,0.0101500967196,1.04003366711,0.58910249316,0.018822726997,1.03970505319
+287,4.783333333,pose2_to_pose3_retreat,0.618367347956,0.0101501447626,1.04003356662,0.588938026199,0.0188227786739,1.03970494953
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+290,4.833333333,pose2_to_pose3_retreat,0.617783939239,0.0101501306052,1.04003336328,0.588354617548,0.0188227651195,1.03970476236
+291,4.850000000,pose2_to_pose3_retreat,0.61755414597,0.0101501477787,1.04003361881,0.588124824956,0.0188227845289,1.03970501907
+292,4.866666667,pose2_to_pose3_retreat,0.617304445522,0.0101500791207,1.04003355065,0.587875124585,0.0188227159055,1.0397049478
+293,4.883333333,pose2_to_pose3_retreat,0.617034434384,0.0101500842653,1.04003314556,0.587605112115,0.0188227166242,1.03970454587
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+295,4.916666667,pose2_to_pose3_retreat,0.616446358767,0.0101500629895,1.0400336142,0.587017039066,0.0188227038413,1.03970501498
+296,4.933333333,pose2_to_pose3_retreat,0.616132178939,0.0101499651034,1.04003375114,0.5867028605,0.018822610019,1.03970514856
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+367,6.116666667,pose2_to_pose3_retreat,0.57672501643,0.0101501838489,1.04003338292,0.547295693771,0.0188228139934,1.03970478214
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+402,6.700000000,pose2_to_pose3_retreat,0.575664364423,0.0101501659977,1.04003372844,0.546235042611,0.0188227988445,1.0397051238
+403,6.716666667,pose2_to_pose3_retreat,0.575664343975,0.0101501532978,1.04003374608,0.546235022228,0.0188227862607,1.03970513868
+404,6.733333333,pose2_to_pose3_retreat,0.575664321079,0.0101500746015,1.04003369299,0.546234999515,0.0188227078063,1.03970507563
+405,6.750000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+406,6.766666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+407,6.783333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..185630f1130a1b7d045ba040b43c6721e211d42e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b832285edbede04dacd660ec5403a2e57cffc603f7eb56e4902520f5401252
+size 26039753
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..745e246bbfade659082d389624966cf8ac965f72
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,770,745,719,683,669,641,884,788,817,654,631,655,0.400989458363,0.00458342323639,0.0498522924259,0.999999962502,9.45747911373e-05,-0.000254540984531,-3.54931945495e-05,1793250287472873472
+1,0.016666667,BASELINE,770,745.598216434,719.598216434,683,669,641,884.598216434,787.401783566,817,654,631,655.598216434,0.400990497876,0.00458355372137,0.0498535434385,0.999999962776,9.72178244291e-05,-0.00025252316006,-3.5064606098e-05,1793250287489540096
+2,0.033333333,BASELINE,770,745.81021576,719.81021576,683,669,641,885,787,817,654,631,656,0.400991342143,0.0045834762319,0.0498543393302,0.999999963062,9.81471810147e-05,-0.000251055693751,-3.48516760643e-05,1793250287506206720
+3,0.050000000,BASELINE,770,745.232246948,719.232246948,683,669,641,885,787,817,654,631,656,0.400991787054,0.00458297335165,0.0498542043182,0.999999963389,9.55713847565e-05,-0.000250713929336,-3.5079853554e-05,1793250287522873344
+4,0.066666667,BASELINE,770,745.344129113,719,683,669,641,884.655870887,787.344129113,817.344129113,654.344129113,631,656,0.400991118524,0.00458298885213,0.049853265071,0.999999963201,9.40715334305e-05,-0.00025199777833,-3.53008909109e-05,1793250287539539968
+5,0.083333333,BASELINE,770,745.919435172,719,683,669,641,884.080564828,787.919435172,817.919435172,654.919435172,631,656,0.400989702014,0.00458335258727,0.0498517855595,0.999999962664,9.32944739488e-05,-0.000254373671952,-3.55171316992e-05,1793250287556206592
+6,0.100000000,BASELINE,770,745.503788174,719.496211826,683,669,641,884,788,817.503788174,654.503788174,630.503788174,656,0.400988732836,0.00458378849748,0.0498517703004,0.999999962301,9.47273414991e-05,-0.000255305374291,-3.52693988101e-05,1793250287572873472
+7,0.116666667,BASELINE,770,745.074775659,720,683,669,641,884.074775659,787.925224341,817,654,630,656,0.400988206459,0.00458432637166,0.0498520770504,0.999999962085,9.63204454172e-05,-0.000255585294874,-3.50608803009e-05,1793250287589540096
+8,0.133333333,BASELINE,770,745.663987274,720,683,669,641,884.663987274,787.336012726,817,654,630,656,0.400990225284,0.00458548487151,0.049852958717,0.999999962701,9.65401267731e-05,-0.000252999079151,-3.56419405647e-05,1793250287606206976
+9,0.150000000,BASELINE,770,745.752104234,720,683,669,641,885,787,817,654,630,656,0.400990909767,0.00458602386915,0.0498531209137,0.999999962896,9.69107303484e-05,-0.000252044511167,-3.59066135985e-05,1793250287622873600
+10,0.166666667,BASELINE,770,745.175233406,720,683,669,641,885,787,817,654,630,656,0.400989823486,0.00458574074384,0.0498523283233,0.99999996254,9.74816182739e-05,-0.000253255254343,-3.57514185478e-05,1793250287639540224
+11,0.183333333,BASELINE,770,745,719.598140189,683,669,640.598140189,884.598140189,787.401859811,817,654.401859811,630.401859811,655.598140189,0.400990524754,0.00458445638724,0.0498527384591,0.999999962995,9.56933392019e-05,-0.000252168354201,-3.55579575274e-05,1793250287656206848
+12,0.200000000,BASELINE,770,745,719.020949895,683,669,640.020949895,884.020949895,787.979050105,817,654.979050105,630.979050105,655.020949895,0.400992005925,0.00458273519578,0.0498536733415,0.999999963793,9.28757612075e-05,-0.000250078997825,-3.53478011414e-05,1793250287672873472
+13,0.216666667,BASELINE,770,745.565243078,719.565243078,683,669,640.565243078,884,788,817,655,630.434756922,655,0.400990789616,0.00458234786985,0.0498537627892,0.999999963364,9.36660915028e-05,-0.00025155225178,-3.49269180285e-05,1793250287689540096
+14,0.233333333,BASELINE,770,745.849420635,719.849420635,683,669,641,884,788,817,654.849420635,630.150579365,655.150579365,0.40098990847,0.00458251499818,0.0498538504798,0.999999963084,9.43754266606e-05,-0.000252425231578,-3.47463980972e-05,1793250287706206720
+15,0.250000000,BASELINE,770,745.267509437,719.267509437,683,669,641,884,788,817,654.267509437,630.732490563,655.732490563,0.400990278413,0.00458412644502,0.0498540243479,0.999999963367,9.44635099077e-05,-0.000251194381414,-3.52771284736e-05,1793250287722873344
+16,0.266666667,BASELINE,770,745.311392336,719,682.688607664,669,641,884,787.688607664,817,654.311392336,630.688607664,656,0.400990967054,0.00458455252497,0.0498541415282,0.999999963578,9.45221934268e-05,-0.000250308893807,-3.54251417222e-05,1793250287739539968
+17,0.283333333,BASELINE,770,745.887733498,719,682.112266502,669,641,884,787.112266502,817,654.887733498,630.112266502,656,0.400991926857,0.0045839700329,0.0498542104755,0.999999963729,9.45558621199e-05,-0.000249717258735,-3.52475192622e-05,1793250287756206592
+18,0.300000000,BASELINE,770,745.539401197,719,682.460598803,669,641,884,787,817,655,630,656,0.400989796494,0.00458468890659,0.0498531461411,0.999999963016,9.64351021655e-05,-0.000251852723887,-3.51991512431e-05,1793250287772873472
+19,0.316666667,BASELINE,769.966187899,745.033812101,719.033812101,683,669,641,884,787,817,654.966187899,630.033812101,656,0.40098714607,0.00458555100016,0.0498519300709,0.999999962174,9.84015832537e-05,-0.000254425129301,-3.51748232073e-05,1793250287789540096
+20,0.333333333,BASELINE,769.373317688,745.626682312,719.626682312,683,669,641,884,787,817,654.373317688,630.626682312,656,0.400988257134,0.00458357581991,0.0498527381517,0.999999962844,9.44284641301e-05,-0.000253313941787,-3.50309760851e-05,1793250287806206720
+21,0.350000000,BASELINE,769.214194242,745.785805758,719.785805758,683,669,641,884.214194242,787,817,654.214194242,630.785805758,656,0.400989645788,0.00458239798556,0.0498536482914,0.999999963475,9.21007944639e-05,-0.000251676333798,-3.50083514741e-05,1793250287822873344
+22,0.366666667,BASELINE,769.79259512,745.20740488,719.20740488,683,669,641,884.79259512,787,817,654.79259512,630.20740488,656,0.400991506445,0.00458257592393,0.0498547319678,0.99999996406,9.25709763843e-05,-0.000249143623291,-3.51918483999e-05,1793250287839540224
+23,0.383333333,BASELINE,770,745,719,683,669,641,884.631148922,787,817,654.631148922,630,656.368851078,0.400992126545,0.00458295993691,0.0498550898378,0.999999964182,9.31759093763e-05,-0.000248424361076,-3.52154347147e-05,1793250287856206848
+24,0.400000000,BASELINE,770,745,719,683,669,641,884.056092026,787,817,654.056092026,630,656.943907974,0.400992053113,0.0045834591557,0.0498550419466,0.999999964047,9.38561748614e-05,-0.00024871890504,-3.51496231827e-05,1793250287872873472
+25,0.416666667,BASELINE,770,745,719.530148428,683,669,641,884.530148428,787.530148428,817,654.530148428,630,656.469851572,0.400991261301,0.0045834127048,0.0498547297781,0.999999963734,9.46457382918e-05,-0.000249651272639,-3.53196198115e-05,1793250287889540096
+26,0.433333333,BASELINE,770,745,719.884090829,683,669,641,884.884090829,788,817,655,630.115909171,656,0.400990724323,0.00458333269026,0.0498544692192,0.999999963489,9.52137761015e-05,-0.000250396398848,-3.54576438429e-05,1793250287906206720
+27,0.450000000,BASELINE,770,745,719.305076095,683,669,641,884.305076095,788,817,655,630.694923905,656,0.40099151574,0.00458335421822,0.0498545289886,0.999999963597,9.4849527247e-05,-0.000250117978428,-3.53660920652e-05,1793250287922873344
+28,0.466666667,BASELINE,770,745,719,683,669,641,884,788,817,654.727920792,631,656,0.40099122454,0.00458393729954,0.0498542425208,0.999999963441,9.58083652551e-05,-0.000250385079995,-3.52935492198e-05,1793250287939540480
+29,0.483333333,BASELINE,770,745,719,683,669,641,884,788,817,654.15283631,631,656,0.400989727666,0.00458514576356,0.0498535704603,0.999999962988,9.82406797067e-05,-0.000251259710687,-3.5242175975e-05,1793250287956207872
+30,0.500000000,BASELINE,770,745,719,683,669,641,884,788,817,654,631,656,0.400989305879,0.00458498796032,0.0498532068923,0.999999962893,9.73375960845e-05,-0.000252000756638,-3.51485172796e-05,1793250287972873984
+31,0.516666667,BASELINE,770,745,719.001272943,683,669,641,884.001272943,788,817,654.001272943,631,656,0.400989275652,0.00458433352582,0.0498529571051,0.999999962926,9.52299299364e-05,-0.000252688759181,-3.50398523774e-05,1793250287989540352
+32,0.533333333,BASELINE,770,745,719.589340601,683,669,641,884.589340601,788,817,654.589340601,631,656,0.400990362937,0.00458271138692,0.049853684286,0.999999963379,9.43637019737e-05,-0.000251214209232,-3.50691889496e-05,1793250288006206976
+33,0.550000000,BASELINE,770,745.174787499,719.825212501,683,669,641,884.825212501,788,817,654.825212501,631,656,0.400990855005,0.00458142768798,0.0498539777317,0.999999963653,9.32526971546e-05,-0.000250534912897,-3.50656948231e-05,1793250288022873344
+34,0.566666667,BASELINE,770,745.754167862,719.245832138,683,669,641,884.245832138,788,817,654.245832138,631,656,0.400989969284,0.00458092739997,0.0498532671801,0.999999963519,9.15750903257e-05,-0.000251696445994,-3.49862051751e-05,1793250288039539968
+35,0.583333333,BASELINE,770,745.668218455,719,683,669,641,884,787.668218455,817,654,630.668218455,656,0.400990856024,0.0045807322533,0.049854035621,0.999999963926,9.0561851242e-05,-0.000250460605981,-3.4868335867e-05,1793250288056206592
+36,0.600000000,BASELINE,770,745.091906793,719,683,669,641,884,787.091906793,817,654,630.091906793,656,0.400993049105,0.00458076200229,0.0498558941111,0.999999964726,9.00382652641e-05,-0.000247457850672,-3.47221799173e-05,1793250288072873472
+37,0.616666667,BASELINE,770,745.483601812,719.483601812,683,669,641,884,787.483601812,817,654.483601812,630.483601812,656,0.400991880124,0.00458172046889,0.049855337685,0.999999964198,9.18061825246e-05,-0.00024894210465,-3.46819258114e-05,1793250288089539840
+38,0.633333333,BASELINE,770,745.93966307,720,682.93966307,669,641,884,788,817,654.93966307,631,656,0.400990264682,0.00458275894391,0.0498543939986,0.99999996348,9.38897557263e-05,-0.000251040342875,-3.47002947826e-05,1793250288106206464
+39,0.650000000,BASELINE,770,745.350850381,720,682.350850381,669,641,884,788,817,654.350850381,631,656,0.400990325916,0.00458295484203,0.0498540715256,0.999999963364,9.4930040437e-05,-0.000251059763517,-3.50561397167e-05,1793250288122873344
+40,0.666666667,BASELINE,770,745.233891859,720,682.233891859,669,641,884,788,817,654,630.766108141,656,0.40099003857,0.00458294350338,0.0498536016936,0.99999996338,9.43947921872e-05,-0.000251170809257,-3.52526969195e-05,1793250288139539968
+41,0.683333333,BASELINE,770,745.812632615,720,682.812632615,669,641,884,788,817,654,630.187367385,656,0.40098923728,0.00458262661594,0.049852914596,0.999999963585,9.15365865587e-05,-0.000251416946544,-3.52144011272e-05,1793250288156206592
+42,0.700000000,BASELINE,770,746,719.610338953,682.610338953,669,641,884,787.610338953,817,654,630,656,0.400989207622,0.00458258473404,0.0498528822781,0.99999996357,9.08101490357e-05,-0.000251741712482,-3.52195112612e-05,1793250288172873472
+43,0.716666667,BASELINE,770,746,719.034130301,682.034130301,669,641,884,787.034130301,817,654,630,656,0.400989547377,0.00458267450921,0.0498531634316,0.999999963451,9.1104281235e-05,-0.000252104121353,-3.52454016915e-05,1793250288189540096
+44,0.733333333,BASELINE,770,746,719.554134077,682,669,641,884.554134077,787.554134077,817,654.554134077,630.554134077,656,0.400991093646,0.00458266326913,0.0498547424881,0.99999996419,9.14827627329e-05,-0.000249027821244,-3.51558432866e-05,1793250288206206720
+45,0.750000000,BASELINE,770.14048056,745.85951944,720,682.14048056,669,641,884.85951944,788,817,655,631,656,0.400992292985,0.00458287555564,0.0498558086162,0.99999996466,9.20528178377e-05,-0.000246925925822,-3.51322573433e-05,1793250288222873344
+46,0.766666667,BASELINE,770.71848954,745.28151046,720,682.71848954,669,641,884.28151046,788,817,655,631,656,0.400992175214,0.0045838038271,0.0498550227087,0.999999964148,9.32029906722e-05,-0.000248533142449,-3.5336782479e-05,1793250288239539968
+47,0.783333333,BASELINE,770.704051768,745.295948232,720,682.704051768,669,641,884,788,817,654.704051768,630.704051768,656,0.400991305299,0.00458399445943,0.0498541218943,0.999999963695,9.40314097436e-05,-0.000250042025574,-3.53215681372e-05,1793250288256206336
+48,0.800000000,BASELINE,770.127115481,745.872884519,720,682.127115481,669,641,884,788,817,654.127115481,630.127115481,656,0.400989721261,0.00458348474038,0.0498531119813,0.999999963298,9.45543398323e-05,-0.000251457546141,-3.50977221674e-05,1793250288272872960
+49,0.816666667,BASELINE,770,746,720,682.447061467,669,641,884.447061467,788,817,654.447061467,630.447061467,656,0.400989555636,0.00458417593636,0.049852993236,0.999999963217,9.49311062933e-05,-0.000251599595779,-3.53899769767e-05,1793250288289539840
+50,0.833333333,BASELINE,770,745.978901131,719.978901131,683,669,641,884.978901131,788,817,655,631,656,0.400989791521,0.00458508572818,0.0498531358597,0.999999963237,9.51551072127e-05,-0.000251376425164,-3.57937409031e-05,1793250288306206720
+51,0.850000000,BASELINE,770,745.38755948,719.38755948,683,669,641,884.38755948,788,817,655,631,656,0.400990045713,0.00458273138514,0.0498535361285,0.99999996361,9.2366633975e-05,-0.000251008703435,-3.52694866739e-05,1793250288322873344
+52,0.866666667,BASELINE,770,745,719,683,669.199677373,641,884.199677373,788,817,655,631,656,0.400989623898,0.00458159942834,0.0498533425964,0.999999963626,9.08871920972e-05,-0.000251532938211,-3.49037968971e-05,1793250288339539968
+53,0.883333333,BASELINE,770,745,719,683,669.779107555,641,884.779107555,788,817,655,631,656,0.400987916431,0.0045827922449,0.0498520197547,0.999999962975,9.18973080514e-05,-0.000253753524393,-3.48396700932e-05,1793250288356206592
+54,0.900000000,BASELINE,770,745,719,682.643547282,669.643547282,641,884.643547282,788,817,655,631,656,0.400988560533,0.00458241666993,0.0498528115307,0.999999963428,9.11320234011e-05,-0.000252231717622,-3.49115984861e-05,1793250288372873216
+55,0.916666667,BASELINE,770,745,719,682.067486705,669.067486705,641,884.067486705,788,817,655,631,656,0.400990653418,0.0045810748206,0.0498549061069,0.999999964548,8.92729276472e-05,-0.00024840425039,-3.50673494726e-05,1793250288389540096
+56,0.933333333,BASELINE,770,745.506474217,719.506474217,682.506474217,669.506474217,641,884,788,817,654.493525783,630.493525783,656,0.400991178808,0.00458199020633,0.0498553842941,0.999999964334,9.20989664728e-05,-0.000248279173446,-3.4747146929e-05,1793250288406206720
+57,0.950000000,BASELINE,770,745.917110158,720,683,669.917110158,641,884,787.917110158,817,654.082889842,630,656,0.400991432006,0.00458305081394,0.049855451498,0.999999963987,9.48445602611e-05,-0.00024867811126,-3.44947379696e-05,1793250288422873344
+58,0.966666667,BASELINE,770,745.323865649,720,683,669.323865649,641,884,787.323865649,817,654.676134351,630,656,0.400991289986,0.00458316133963,0.0498543088967,0.999999963967,9.32669819691e-05,-0.000249278477148,-3.50486014233e-05,1793250288439539968
+59,0.983333333,BASELINE,770,745,719.738716176,683,669,641,884,787.261283824,817.261283824,655,630,656,0.400990942392,0.00458312221296,0.0498538421324,0.999999963989,9.22991651167e-05,-0.000249525953945,-3.5196637761e-05,1793250288456206336
+60,1.000000000,BASELINE,770,745,719.163299032,683,669,641,884,787.836700968,817.836700968,655,630,656,0.400990347642,0.004582903164,0.0498541879055,0.999999964067,9.20644450514e-05,-0.000249349163369,-3.48567609983e-05,1793250288472872960
+61,1.016666667,BASELINE,770,745,719.412933444,683,669,641,884,787.587066556,817.587066556,654.587066556,630.412933444,656,0.400989815758,0.00458267021138,0.0498538689219,0.999999963898,9.22876327742e-05,-0.000249956950504,-3.47541723589e-05,1793250288489539840
+62,1.033333333,BASELINE,770,745,719.989488954,683,669,641,884,787.010511046,817.010511046,654.010511046,630.989488954,656,0.400989308785,0.00458243174955,0.0498532865328,0.999999963631,9.26922633561e-05,-0.000250875621227,-3.47456075441e-05,1793250288506206464
+63,1.050000000,BASELINE,770,745,720,682.422189943,669.577810057,641,884.577810057,787.577810057,817,654.577810057,631,656,0.400990331912,0.00458321358419,0.0498542542375,0.999999963748,9.39366823649e-05,-0.000249895045919,-3.50968928104e-05,1793250288522873088
+64,1.066666667,BASELINE,770,745.163729327,720,682.163729327,669.836270673,641,884.836270673,788,817,655,631,656,0.400990985336,0.004583697161,0.0498549430307,0.999999963861,9.46986934685e-05,-0.000249124478672,-3.53076816262e-05,1793250288539539968
+65,1.083333333,BASELINE,770,745.742998297,720,682.742998297,669.257001703,641,884.257001703,788,817,655,631,656,0.400990628355,0.0045833756844,0.0498548509024,0.999999963951,9.41967913486e-05,-0.000248976413185,-3.51449359473e-05,1793250288556206592
+66,1.100000000,BASELINE,770,746,719.677964386,683,669,641,884,788,817,655,631,656,0.400989646344,0.00458299865823,0.0498543645875,0.999999963817,9.37277672551e-05,-0.000249718142383,-3.49629111789e-05,1793250288572873472
+67,1.116666667,BASELINE,770,746,719.099111838,683,669,641,884,788,817,655,631,656,0.400988165884,0.00458257733239,0.0498535639166,0.999999963502,9.32849627511e-05,-0.00025116946498,-3.47655117315e-05,1793250288589540096
+68,1.133333333,BASELINE,769.526490811,745.526490811,719.473509189,683,669,641,884,788,817,654.526490811,630.526490811,656,0.400988272004,0.00458289293462,0.049853943152,0.99999996353,9.40253576488e-05,-0.000250774393362,-3.48026961194e-05,1793250288606206976
+69,1.150000000,BASELINE,769.046340087,745.046340087,720,682.953659913,669,641,884.046340087,788,817,654.046340087,630,656,0.400988828434,0.00458323759736,0.0498545788908,0.999999963677,9.47004684637e-05,-0.000249927243014,-3.48520337597e-05,1793250288622873344
+70,1.166666667,BASELINE,769.636749635,745.636749635,720,682.363250365,669,641,884.636749635,788,817,654.636749635,630,656,0.400990823473,0.00458213597182,0.0498553642206,0.999999964383,9.17391409762e-05,-0.000248250915336,-3.44750571949e-05,1793250288639539968
+71,1.183333333,BASELINE,769.777334262,745.777334262,719.777334262,682.222665738,669,641,885,787.777334262,817,654.777334262,630,656,0.400992183584,0.0045819015873,0.049856056537,0.999999964755,9.12562181575e-05,-0.000246956647857,-3.42614233965e-05,1793250288656206592
+72,1.200000000,BASELINE,769.198603539,745.198603539,719.198603539,682.801396461,669,641,885,787.198603539,817,654.198603539,630,656,0.400992528378,0.00458305400852,0.0498566001159,0.999999964599,9.47365140355e-05,-0.000246273332929,-3.43089911055e-05,1793250288672873216
+73,1.216666667,BASELINE,769.377595055,745,719.377595055,682.622404945,669,641,885,787.377595055,817,654.377595055,630.377595055,656,0.400992836439,0.00458361021326,0.0498566541133,0.999999964574,9.54926855376e-05,-0.000246039936197,-3.46069132109e-05,1793250288689540096
+74,1.233333333,BASELINE,769.952470663,745,719.952470663,682.047529337,669,641,885,787.952470663,817,654.952470663,630.952470663,656,0.400993125307,0.00458385491513,0.049856452321,0.999999964622,9.48255946434e-05,-0.000246041606436,-3.50356369571e-05,1793250288706206720
+75,1.250000000,BASELINE,770,745,720,682.538591817,669,641,884.461408183,788,817,655,630.461408183,656,0.400991995838,0.00458392312615,0.0498562043888,0.999999964343,9.50544683131e-05,-0.000247053091074,-3.52534025051e-05,1793250288722873344
+76,1.266666667,BASELINE,770,745.123994656,720,683,669,641,884,787.876005344,817,655,630.123994656,656,0.400990754084,0.0045837753821,0.0498557015297,0.999999964072,9.49463740034e-05,-0.000248176569274,-3.53632768131e-05,1793250288739539968
+77,1.283333333,BASELINE,770,745.703041623,720,683,669,641,884,787.296958377,817,655,630.703041623,656,0.400989569391,0.00458289347458,0.0498542783675,0.999999963935,9.33052722226e-05,-0.000249377041639,-3.51469756321e-05,1793250288756206592
+78,1.300000000,BASELINE,770.281460985,746,720,683,669,641,884,787.281460985,817,654.718539015,630.718539015,656,0.400988860738,0.00458339061278,0.049853686673,0.999999963754,9.32351051686e-05,-0.000250137137321,-3.50821122139e-05,1793250288772873216
+79,1.316666667,BASELINE,770.859219624,746,720,683,669,641,884,787.859219624,817,654.140780376,630.140780376,656,0.40098865322,0.00458533949049,0.0498539702755,0.999999963528,9.48186817133e-05,-0.000250433642644,-3.51766693192e-05,1793250288789540096
+80,1.333333333,BASELINE,770.565489512,746,720,683,669,641,884,788,817,654,630,656,0.400989961788,0.00458417686137,0.0498545836271,0.999999963952,9.34981559193e-05,-0.00024925544356,-3.50044065961e-05,1793250288806206720
+81,1.350000000,BASELINE,770,745.990767875,720,682.990767875,669,641,884,788,817,654.009232125,630.009232125,656,0.400991723436,0.00458203661701,0.0498552935847,0.999999964571,9.12694604157e-05,-0.000247630667003,-3.47491276795e-05,1793250288822873344
+82,1.366666667,BASELINE,770,745.401870989,720,682.401870989,669,641,884,788,817,654.598129011,630.598129011,656,0.40099126528,0.00458145430144,0.0498553989805,0.999999964578,9.07636036307e-05,-0.000247796918823,-3.46787346767e-05,1793250288839539968
+83,1.383333333,BASELINE,770,745,720,682,669,641,884.184619691,788,817,655,631,656,0.400990731733,0.00458154711403,0.0498553816536,0.999999964533,9.07118090102e-05,-0.000247991109409,-3.47335359422e-05,1793250288856206592
+84,1.400000000,BASELINE,770,745,720,682,669,641,884.765940156,788,817,655,631,656,0.400990036189,0.00458309060529,0.0498551006269,0.999999964374,9.16356784352e-05,-0.00024824533333,-3.50573478448e-05,1793250288872873216
+85,1.416666667,BASELINE,770,745.343281645,719.656718355,682,669,641,884.656718355,787.656718355,817,655,631,656,0.400989533073,0.00458345191223,0.049854883356,0.999999964176,9.23008158734e-05,-0.00024881137715,-3.49403017051e-05,1793250288889539840
+86,1.433333333,BASELINE,770,745.917941198,719.082058802,682,669,641,884.082058802,787.082058802,817,655,631,656,0.400989159656,0.00458301640593,0.0498547090576,0.999999963952,9.27915633137e-05,-0.000249587593089,-3.45261094158e-05,1793250288906206720
+87,1.450000000,BASELINE,770,746,719.504014977,682.504014977,669,641,884,787,817,654.495985023,630.495985023,655.495985023,0.400990566237,0.00458227730678,0.0498559257695,0.999999964383,9.29763813928e-05,-0.000247791525767,-3.44773499761e-05,1793250288922873344
+88,1.466666667,BASELINE,770,745.909496429,720,683,669,641,884.090503571,787.090503571,817,654,630.090503571,655.090503571,0.400991950035,0.00458167111761,0.0498570149298,0.999999964805,9.30541173987e-05,-0.000246051771771,-3.44949334814e-05,1793250288939540224
+89,1.483333333,BASELINE,770,745.331023154,720,683,669,641,884.668976846,787.668976846,817,654,630.668976846,655.668976846,0.400991612264,0.00458205421868,0.0498561670075,0.999999964609,9.2829272846e-05,-0.000246925984102,-3.45419995801e-05,1793250288956206848
+90,1.500000000,BASELINE,770,745,720,683,669,641,885,788,817,654.247241149,630.752758851,656,0.400991374023,0.00458228495444,0.0498557993846,0.999999964486,9.28925246258e-05,-0.000247401717017,-3.450775393e-05,1793250288972873472
+91,1.516666667,BASELINE,770,745,720,683,669,641,885,788,817,654.825225855,630.174774145,656,0.400991268929,0.00458231186552,0.0498560742757,0.999999964464,9.33411734595e-05,-0.000247344389325,-3.43647345661e-05,1793250288989540864
+92,1.533333333,BASELINE,770.401143643,745.401143643,720,682.598856357,669,641,885,788,817,655,630,656,0.400991277313,0.00458276121278,0.0498561960051,0.999999964529,9.36505379655e-05,-0.00024695917798,-3.43848989937e-05,1793250289006207744
+93,1.550000000,BASELINE,770.97616556,745.97616556,720,682.02383444,669,641,885,788,817,655,630,656,0.400991334885,0.00458339366769,0.0498562513457,0.999999964633,9.38995288283e-05,-0.000246431843366,-3.44757964661e-05,1793250289022873856
+94,1.566666667,BASELINE,770.436412466,745.436412466,720,682.563587534,669.563587534,641,885,788,817,654.436412466,630.563587534,656,0.400991372484,0.00458287824424,0.049856283801,0.999999964572,9.43147836116e-05,-0.000246520868912,-3.44758056803e-05,1793250289039540224
+95,1.583333333,BASELINE,770,745,720,683,669.850817949,641,885,788,817,654,631,656,0.400990669926,0.00458261891044,0.0498558304276,0.999999964333,9.43396001005e-05,-0.000247469004646,-3.45476108848e-05,1793250289056206848
+96,1.600000000,BASELINE,770,745,720,683,669.272030028,641,885,788,817,654,631,656,0.400987838392,0.00458323998916,0.049853980843,0.999999963594,9.32193508561e-05,-0.00025081440367,-3.48374879721e-05,1793250289072873472
+97,1.616666667,BASELINE,770,745.306109039,720,683,669.306109039,641,884.693890961,788,817,654.306109039,630.693890961,656,0.400987931804,0.00458347314122,0.0498540494539,0.999999963616,9.32634440053e-05,-0.000250696781265,-3.49300157349e-05,1793250289089540608
+98,1.633333333,BASELINE,770,745.883672673,720,683,669.883672673,641,884.116327327,788,817,654.883672673,630.116327327,656,0.40099061903,0.00458336228357,0.0498558191026,0.999999964313,9.43400650256e-05,-0.00024750818406,-3.4847535969e-05,1793250289106207488
+99,1.650000000,BASELINE,770,745.542646972,719.542646972,682.542646972,669.542646972,641,884,788,817,654.542646972,630.457353028,656,0.400991792745,0.00458262189963,0.0498559602492,0.999999964574,9.32331791838e-05,-0.000246865974058,-3.48722971612e-05,1793250289122874112
+100,1.666666667,BASELINE,770,745.030975548,719.030975548,682.030975548,669,641,884,788,817,654,631,656,0.400992541927,0.00458176588062,0.0498557567364,0.999999964725,9.16866007518e-05,-0.000246830156288,-3.49157353623e-05,1793250289139540480
+101,1.683333333,BASELINE,770,745.621237584,719.621237584,682.621237584,669,641,884,788,817,654,631,656,0.400992518061,0.00458168871877,0.0498567460092,0.999999964855,9.2144291504e-05,-0.000246147471506,-3.48080473469e-05,1793250289156207104
+102,1.700000000,BASELINE,770,745.791322781,719.791322781,683,669,641,884,787.791322781,817,654,631,656,0.40099211538,0.00458192071286,0.0498569586917,0.99999996479,9.29248013343e-05,-0.000246129300427,-3.47247124781e-05,1793250289172873472
+103,1.716666667,BASELINE,770,745.208937685,719.208937685,683,669,641,884,787.208937685,817,654,631,656,0.4009910343,0.00458270635633,0.0498557806236,0.999999964375,9.42834290027e-05,-0.000247301168313,-3.46849902527e-05,1793250289189540096
+104,1.733333333,BASELINE,769.631979577,745,719.368020423,682.631979577,669,641,884,787.368020423,817,654.368020423,631,656,0.400990943417,0.00458182377997,0.049855678523,0.999999964475,9.35028237259e-05,-0.000247217352808,-3.44994659952e-05,1793250289206206720
+105,1.750000000,BASELINE,769.058057727,745,719.941942273,682.058057727,669,641,884,787.941942273,817,654.941942273,631,656,0.400991406533,0.00458000786189,0.0498561784087,0.999999964862,9.1525352618e-05,-0.000246431003025,-3.42323678736e-05,1793250289222873344
+106,1.766666667,BASELINE,769.527864459,745.527864459,720,682,669,641,884.527864459,788,817,654.472135541,631,656,0.400991218502,0.00458192760765,0.0498556454848,0.99999996447,9.3321492559e-05,-0.000247283303156,-3.46768111972e-05,1793250289239540224
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,746,719,682,669,641,884,787,817,654,631,656,0.400991439899,0.00458323306528,0.0498557263255,0.999999964538,9.22824674562e-05,-0.000247374980564,-3.48443826825e-05,1793250289281721088
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745.422743775,719.577256225,682,669,641,884,787,817,654,631,656,0.400991955093,0.00458292868002,0.0498560846714,0.999999964841,9.13536002688e-05,-0.000246473703365,-3.49781716504e-05,1793250289298387712
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745,719.846865361,682.153134639,669,641,884,787.153134639,817,654,631,656,0.40099248699,0.00458244350182,0.0498564553333,0.999999965098,9.09637401664e-05,-0.000245572775167,-3.49932254927e-05,1793250289315054336
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745,719.274756492,682.725243508,669,641,884,787.725243508,817,654,631,656,0.400993064582,0.00458146367659,0.0498568596919,0.99999996523,9.20485957038e-05,-0.000244672801634,-3.46834217222e-05,1793250289331721216
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745.30713403,719.30713403,683,669,641,884,787.69286597,817,654,631,656,0.400992902913,0.00458109633446,0.0498569580602,0.999999965152,9.25869180712e-05,-0.000244842967295,-3.42942541917e-05,1793250289348387584
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745.898062858,719.898062858,683,669,641,884,787.101937142,817,654,631,656,0.40099205816,0.00458129493268,0.0498567736904,0.99999996488,9.26202384664e-05,-0.000246001951921,-3.38317538024e-05,1793250289365053952
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,884,787.478943967,817,654,630.521056033,656,0.400991396707,0.00458139671195,0.0498560903741,0.999999964646,9.25510406874e-05,-0.000246942237733,-3.40850860339e-05,1793250289381720576
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,745.942444726,720,683,669,641,884,787.942444726,817,654,630,656,0.400990776737,0.00458160902814,0.0498553688695,0.999999964414,9.25698045311e-05,-0.000247816478115,-3.44801386497e-05,1793250289398387456
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,745.365414813,720,683,669,641,884,787.365414813,817,654,630,656,0.400990186298,0.00458300118104,0.0498552414708,0.999999964138,9.35753711343e-05,-0.00024850610208,-3.48074544286e-05,1793250289415054080
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,745.210357941,719.789642059,683.210357941,669,641,884,787.210357941,817,654.210357941,630.210357941,656,0.400992147828,0.00458371256226,0.0498562023477,0.999999964392,9.40787927975e-05,-0.000247274202296,-3.49514975868e-05,1793250289431720704
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,745.783959787,719.216040213,683.783959787,669,641,884,787.783959787,817,654.783959787,630.783959787,656,0.40099851607,0.00458324839388,0.0498590424478,0.999999965546,9.37151156981e-05,-0.00024272423522,-3.47790674567e-05,1793250289448387584
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,745.632252305,719.367747695,683.632252305,669,641,884.367747695,787.632252305,817,655,630.632252305,656,0.401017551375,0.00458230690886,0.0498657659285,0.99999996878,9.28428384794e-05,-0.000229399142134,-3.45779660136e-05,1793250289465054464
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745.042309879,719.957690121,683.042309879,669,641,884.957690121,787.042309879,817,655,630.042309879,656,0.401044240174,0.00458107702703,0.0498748357647,0.999999972996,9.16632628319e-05,-0.000210772079862,-3.43595412146e-05,1793250289481720576
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669.537840919,641,885,787.537840919,817,654.462159081,630.537840919,656,0.401106405301,0.00458177166382,0.0498962414086,0.99999998116,9.1588642857e-05,-0.000167696357136,-3.41992273383e-05,1793250289498387200
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.116418048,745.116418048,720,683,669.883581952,641,884.883581952,788,817,654.116418048,631,656,0.40117200928,0.00458210950908,0.0499166176068,0.99999998687,9.16968721059e-05,-0.000129294898725,-3.36911031645e-05,1793250289515053824
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.691773931,745.691773931,720,683,669.308226069,641,884.308226069,788,817,654.691773931,631,656,0.401240364762,0.00458045467831,0.0499291784698,0.999999988428,9.21893861668e-05,-0.000116766407096,-3.17941587307e-05,1793250289531720704
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.726502235,746,720,682.726502235,669,641,884.273497765,788,817,654.726502235,631,656,0.401317097185,0.00457945182957,0.0499398562892,0.999999990168,9.11597724794e-05,-0.000102081371972,-3.05474887237e-05,1793250289548387328
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.137430815,746,720,682.137430815,669,641,884.862569185,788,817,654.137430815,631,656,0.401403495284,0.00457920126624,0.0499483613699,0.999999992039,8.83738613507e-05,-8.49080236189e-05,-3.00511338326e-05,1793250289565053952
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,745.555741839,720,682.888516323,669,641,885,788,817,654,631,656,0.401501320186,0.00457718881734,0.0499504278807,0.999999992555,8.4961308233e-05,-8.25287346393e-05,-2.93471455887e-05,1793250289581720320
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,745.023582041,720,683.976417959,669,641,885,788,817,654.023582041,630.976417959,656,0.401603688397,0.00457473993065,0.0499504462528,0.999999992673,8.15506763779e-05,-8.47779967565e-05,-2.85683258096e-05,1793250289598386944
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,745.600123391,720,683.399876609,669,641,885,788,817,654.600123391,630.399876609,656,0.401731057683,0.00457462862108,0.0499483793516,0.999999992155,8.2656276193e-05,-9.00012307804e-05,-2.75163262322e-05,1793250289615053568
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.176205762,746,720,683,669,641,884.823794238,788,817,654.823794238,630.176205762,656,0.401869404573,0.00457369175246,0.0499484340446,0.99999999212,8.19179519821e-05,-9.14093057409e-05,-2.63340522258e-05,1793250289631720192
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.751249167,746,720,683,669,641,884.248750833,788,817,654.248750833,630.751249167,656,0.402032598997,0.00457088625017,0.049953290917,0.999999993183,7.700594851e-05,-8.41818562586e-05,-2.48569052245e-05,1793250289648386816
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.666219369,745.666219369,720,683,669,641,884.333780631,787.666219369,817,654.333780631,631,656,0.402207179753,0.00456858316065,0.0499546041657,0.999999993641,7.26912509315e-05,-8.29775403697e-05,-2.3427816499e-05,1793250289665053696
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.077979281,745.077979281,720,683,669,641,884.922020719,787.077979281,817,654.922020719,631,656,0.402390440958,0.00456666308792,0.0499532159141,0.999999993659,6.88319121913e-05,-8.63649919636e-05,-2.20353651023e-05,1793250289681720576
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,745.504102411,720,683,669,641,885,787,817,655,631,656,0.402608067434,0.00456537430243,0.0499518451749,0.999999993689,6.48407562204e-05,-8.93772461965e-05,-2.06994408409e-05,1793250289698387456
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,885,787.083752742,817,654.916247258,631.083752742,656,0.402838070726,0.00456420655737,0.0499511083023,0.99999999375,6.13107404686e-05,-9.14936892875e-05,-1.92559048395e-05,1793250289715053824
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,885,787.654734015,817,654.345265985,631.654734015,656,0.403109523726,0.00456318172126,0.0499540433557,0.999999994081,6.05805801686e-05,-8.87323498427e-05,-1.7136086099e-05,1793250289731720448
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641.234208899,885,788,817,654,631.765791101,656,0.403398203169,0.00456016268189,0.0499597888657,0.999999995203,5.6931099182e-05,-7.82908780859e-05,-1.49384404511e-05,1793250289748386816
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641.826676023,885,788,817,654,631.173323977,656,0.403713233071,0.00455409320459,0.0499698333975,0.999999997155,4.88160720698e-05,-5.61014729757e-05,-1.26217468018e-05,1793250289765053696
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,745.590253388,720,683,669,641.590253388,885,788,817.409746612,654,631,656,0.404060128382,0.00455182149144,0.0499799854754,0.999999998224,4.65881264412e-05,-3.57261299027e-05,-1.02992855313e-05,1793250289781720320
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745.011068467,720,683,669,641.011068467,885,788,817.988931533,654,631,656,0.40442020066,0.00455112022885,0.0499901820253,0.999999998744,4.6794605372e-05,-1.61009378257e-05,-7.97443929117e-06,1793250289798386944
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,745.561110165,720,683,669.561110165,641.561110165,885,788,817.438889835,654.561110165,631,656,0.404818697675,0.00454376703952,0.0499966690752,0.999999999276,3.77271422791e-05,8.12107689058e-07,-4.83285605982e-06,1793250289815053568
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745.866236106,720,683.133763894,670,642,885.133763894,788,817,654.866236106,631,656,0.405223358425,0.00453744658824,0.0499987198897,0.999999999522,2.96698015331e-05,8.52742073301e-06,-1.90623820164e-06,1793250289831720192
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745.291566571,720,683.708433429,670,642,885.708433429,788,817,654.291566571,631,656,0.405645868122,0.00453495736988,0.0499863864296,0.999999999577,2.55375299207e-05,-1.39001918194e-05,2.59372026675e-07,1793250289848386816
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.707668067,745,720,683.707668067,670,641.707668067,885.707668067,788,817,654,630.707668067,656,0.406067961203,0.00453211897965,0.0499662740033,0.999999998396,2.22439526065e-05,-5.20199821304e-05,2.82971018665e-06,1793250289865053696
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.114264615,745,720,683.114264615,670,641.114264615,885.114264615,788,817,654,630.114264615,656,0.406489625265,0.00452892097838,0.0499381500483,0.999999994137,1.98141427409e-05,-0.000106301087861,5.81687632662e-06,1793250289881720064
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.466077433,745.466077433,720,683.466077433,670,641,885.466077433,788,817,654,630.466077433,656,0.406983780094,0.00452302978261,0.0499292305732,0.999999992641,1.25122117442e-05,-0.000120331342009,9.05599715627e-06,1793250289898386688
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,745.956787956,720,684,669.956787956,641,886,788,817,654.043212044,631,656.043212044,0.407500950645,0.00451669089426,0.0499264501246,0.999999992509,4.36015957034e-06,-0.000121702214333,1.23387813336e-05,1793250289915053312
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,745.380794172,720,684,669.380794172,641,886,788,817,654.619205828,631,656.619205828,0.408088747121,0.00451275104637,0.0499428932799,0.99999999624,5.21597647199e-08,-8.53400485194e-05,1.54190862448e-05,1793250289931719936
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,745.192739576,719.807260424,684.192739576,669.192739576,641.192739576,886,788.192739576,817,654.807260424,631,656.807260424,0.40869514421,0.00450740779647,0.0499634157144,0.999999998774,-5.39201157816e-06,-4.53434113513e-05,1.91702969209e-05,1793250289948386816
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,745.761474265,719.238525735,684.761474265,669.761474265,641.761474265,886,788.761474265,817,654.238525735,631,656.238525735,0.409337827215,0.00449932679924,0.0499918959792,0.99999999962,-1.30526187206e-05,1.74332668408e-06,2.42303060323e-05,1793250289965053952
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,746,719,685,670,641.653023841,886.346976159,788.653023841,817.346976159,654,631,656,0.409968717776,0.00449279750187,0.0500027273915,0.999999999274,1.97586221629e-05,1.57432526967e-05,2.85107021103e-05,1793250289981720576
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,746,719,685,670,641.05541022,886.94458978,788.05541022,817.94458978,654,631,656,0.410591090063,0.00448738907182,0.0500008101928,0.999999996118,8.18046134105e-05,5.84299100007e-06,3.22279461573e-05,1793250289998387200
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,745.476735689,719,685,670,641.523264311,886.476735689,788,817.476735689,654,631,656,0.411215479229,0.00448076044765,0.0499716030901,0.99999998921,0.000130624136657,-5.64174425376e-05,3.65407150152e-05,1793250290015054080
+152,2.533333333,POSE1_TO_POSE2_PRESS,769.899804001,745.100195999,719,685,670,642,886.100195999,788,817.100195999,654.100195999,631,656.100195999,0.411860061914,0.00447412591381,0.0499453094624,0.999999979347,0.000166783985619,-0.000108836649172,4.05539655641e-05,1793250290031720448
+153,2.550000000,POSE1_TO_POSE2_PRESS,769.3219542,745.6780458,719,685,670,642,886.6780458,788,817.6780458,654.6780458,631,656.6780458,0.412599928251,0.00446805766513,0.0499462000732,0.99999998403,0.000149036380975,-8.88319042295e-05,4.28492252338e-05,1793250290048386816
+154,2.566666667,POSE1_TO_POSE2_PRESS,769.252333105,746,719.252333105,685,670,642,887,788,818,655,631,656.747666895,0.413367225392,0.0044622151723,0.0499582809556,0.99999999381,8.77041320961e-05,-5.91364474703e-05,3.45194944297e-05,1793250290065053440
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.822138342,746,719.822138342,685,670,642,887,788,818,655,631,656.177861658,0.414169034614,0.00445665671267,0.0499844408444,0.999999999364,-2.84640088492e-05,-1.72486474709e-05,1.28219638606e-05,1793250290081720064
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746,720,685.410453881,670,642,887,788,818,655,631,656,0.414936726948,0.00445032462167,0.0499775481669,0.99999999666,-7.5298218461e-05,-3.03159604595e-05,9.57091012727e-06,1793250290098386688
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,720,686,670,642,887,788,818,654.993047824,630.993047824,656,0.415689568913,0.00444406832583,0.0499557889637,0.999999993536,-8.99135969677e-05,-6.80445976416e-05,1.46346863217e-05,1793250290115053568
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,720,686,670,642,887,788,818,654.414400005,630.414400005,656,0.416494358645,0.0044729141824,0.0499449280872,0.999999995543,-4.24017425677e-05,-8.299677403e-05,1.50876023202e-05,1793250290131720704
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,720,686,670,641.836569644,887.163430356,788,818,654.163430356,630.163430356,656,0.417317161832,0.00449313993058,0.0499443823529,0.99999999657,9.65522295186e-07,-8.11954690088e-05,1.6332602354e-05,1793250290148387584
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,746,720,686,670,641.26080178,887.73919822,788,818,654.73919822,630.73919822,656,0.418185413218,0.00449161700007,0.0499698618947,0.999999998545,3.38759157259e-05,-3.7124850904e-05,1.95760436171e-05,1793250290165053952
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,746,720,686.313361749,670.313361749,641.313361749,888,788,818,654.686638251,631,656,0.419043602321,0.00448434147727,0.0499767803132,0.999999998675,3.21980386324e-05,-3.33322939523e-05,2.24294858313e-05,1793250290181720576
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,720,686.886196809,670.886196809,641.886196809,888,788,818,654.113803191,631,656,0.419893459495,0.00447230262853,0.0499683295408,0.999999997709,1.87999207962e-06,-6.28912313243e-05,2.49599965029e-05,1793250290198386688
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.522607277,746,720,687.477392723,670.522607277,642,888,788,818,654,631,656.477392723,0.420779920636,0.00446781868014,0.0499650676729,0.999999998242,-1.25629103308e-05,-5.23628188979e-05,2.48060114063e-05,1793250290215053312
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.070634528,746,720,688,670.070634528,642,888,788,818.070634528,654.070634528,631,657,0.42168052923,0.00446547515837,0.0499663627663,0.99999999909,-2.00322263065e-05,-2.89203728162e-05,2.41174535037e-05,1793250290231720192
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.64596912,746,720,688,670.64596912,642,888,788,818.64596912,654.64596912,631,657,0.422617382223,0.00446504238403,0.0499910265419,0.999999999562,-5.79560682236e-06,1.57832489254e-05,2.43646887776e-05,1793250290248387072
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.779487677,746,720,688,670.779487677,641.779487677,888.220512323,788,819,654.779487677,631,656.779487677,0.423538663762,0.00446800976534,0.0499995884655,0.999999999211,4.62736026251e-06,3.07588845429e-05,2.47053760856e-05,1793250290265053952
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.206210409,746,720,688,670.206210409,641.206210409,888.793789591,788,819,654.206210409,631,656.206210409,0.424435034989,0.00447641655105,0.0499823914294,0.999999999641,8.94943299104e-06,-1.82286648214e-06,2.51955635253e-05,1793250290281720832
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,688,670,641,888.620869259,788,819,654.379130741,631,656.379130741,0.425369035035,0.00448037547048,0.0499837640672,0.999999999632,8.55673282761e-06,-1.28946387091e-06,2.57081069334e-05,1793250290298387456
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720,688,670,641,888.028750911,788,819,654.971249089,631,656.971249089,0.426324174102,0.00448183567249,0.049995568755,0.999999999481,5.51537301434e-06,1.78473315028e-05,2.62332094236e-05,1793250290315054080
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,720,688,670.550786423,641.550786423,888.550786423,788,819,655,631,656.449213577,0.427231643366,0.00447440055904,0.0499928143974,0.999999999448,9.24260564953e-06,-1.25500231531e-05,2.93517270137e-05,1793250290331720704
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.128955811,720,688.128955811,670.742088377,641.871044189,888.871044189,788,819.128955811,655,631,656,0.42813690757,0.00446749970461,0.0499838683224,0.999999998428,9.90118546948e-06,-4.5225177382e-05,3.16398104255e-05,1793250290348387072
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746.70461072,720,688.70461072,669.590778561,641.29538928,888.29538928,788,819.70461072,655,631,656,0.42904296055,0.00446402202504,0.0499560480759,0.999999996564,-1.26651126843e-06,-7.70338947456e-05,3.05928295726e-05,1793250290365053696
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.279206497,746.720793503,720,689.279206497,669.279206497,641,888,788,819.720793503,655,630.720793503,656,0.429974033394,0.00446256860894,0.0499473738524,0.999999996278,-3.85740719622e-06,-8.06260048205e-05,3.04759041306e-05,1793250290381720320
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.852685953,746.147314047,720,689.852685953,669.852685953,641,888,788,819.147314047,655,630.147314047,656,0.43093147616,0.00446324868926,0.0499588788061,0.999999998022,2.59131733605e-06,-5.44788888956e-05,3.13392215686e-05,1793250290398387200
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746,720,689.558329574,670,641,888.441670426,788,819.441670426,654.558329574,630.441670426,656,0.431856130239,0.00446963874675,0.0499510202985,0.999999997039,7.4741784162e-06,-6.98289058715e-05,3.14748094738e-05,1793250290415054080
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.965098168,746,720,689,670,641,889,788,820,654.034901832,631,656,0.432770307446,0.00447720526606,0.0499379931219,0.999999994822,1.04978353976e-05,-9.62486465676e-05,3.13244622385e-05,1793250290431720960
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.389118139,746,720,689,670,641,889,788,820,654.610881861,631,656,0.433697774186,0.00447241095087,0.0499486041746,0.999999996922,-6.91014645316e-06,-7.1900650887e-05,3.06411519421e-05,1793250290448387584
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.185840722,746,720,689.185840722,670.185840722,641,888.814159278,788,820,654.814159278,631,656,0.434614762222,0.0044673907079,0.0499618556834,0.999999998268,-1.25470314011e-05,-4.85308394901e-05,3.08322259461e-05,1793250290465053952
+179,2.983333333,POSE1_TO_POSE2_PRESS,769.758673222,746,720,689.758673222,670.758673222,641,888.241326778,788,820,654.241326778,631,656,0.435509929741,0.00446189999562,0.049980605638,0.999999999071,6.32802634031e-06,-2.71979791415e-05,3.2844103885e-05,1793250290481720576
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746,720.342572213,690,670.314855574,641,888.342572213,788,820,654,631,656,0.436377258617,0.00445876308266,0.0499709914913,0.999999997609,1.30466755967e-05,-5.83115684206e-05,3.47998541483e-05,1793250290498387200
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746,720.934527259,690,669.130945481,641,888.934527259,788,820,654,631,656,0.437224321698,0.00445733966904,0.0499407290839,0.999999991125,1.09158038374e-05,-0.000127604683364,3.67147448213e-05,1793250290515053824
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746,720.485046964,690,669,641,889,788,820,654,631,656,0.438132869819,0.00445891004753,0.0499604057062,0.999999996564,-1.88002391962e-06,-7.49116318826e-05,3.54529083919e-05,1793250290531720448
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.093166994,720,690.093166994,669.093166994,641.093166994,888.906833006,787.906833006,820,654,631,656,0.439034153621,0.00446119145796,0.0499818688263,0.999999999137,-1.44177161975e-05,-1.93083767042e-05,3.38565878781e-05,1793250290548387328
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746.667363788,720,690.667363788,669.667363788,641.667363788,888.332636212,787.332636212,820,654,631,656,0.439858452967,0.00446522174892,0.049980491132,0.999999998929,-1.87749153702e-05,-2.70039003219e-05,3.25729970379e-05,1793250290565053952
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746.753089571,720,690.753089571,669.753089571,641.753089571,888.246910429,787.246910429,820.246910429,654,631,656,0.440658932323,0.00446664649021,0.0499719251863,0.999999998502,-1.21456510946e-05,-4.275889463e-05,3.19258859661e-05,1793250290581720576
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746.166176077,720,690.166176077,669.166176077,641.166176077,888.833823923,787.833823923,820.833823923,654,631,656,0.44142661077,0.00446448331114,0.0499534608031,0.999999997014,9.61230320213e-06,-6.96120211151e-05,3.21552267046e-05,1793250290598387200
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746.417334805,720,690.417334805,669,641,889,788,821,654,631.417334805,656,0.44222993925,0.00446131183653,0.0499599965439,0.999999997911,1.71081919721e-05,-5.26365740635e-05,3.33871106961e-05,1793250290615053824
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.999501828,720,690.999501828,669,641,889,788,821,654,631.999501828,656,0.443047348274,0.00445774212132,0.0499764064317,0.999999999039,1.89710803194e-05,-1.83504211777e-05,3.50149631609e-05,1793250290631720192
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746.424391664,720,690.424391664,669,641,889,788,821,654,631.424391664,656,0.443724276451,0.00446286643226,0.0499493524161,0.999999996435,2.0581604368e-05,-7.32345577303e-05,3.66551839248e-05,1793250290648386816
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746,720,690.150119602,668.849880398,640.849880398,889,788,821,654,631,656,0.444389382608,0.00447016522613,0.0499155257921,0.99999999,2.54480294929e-05,-0.000133893085932,3.77554792384e-05,1793250290665053184
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746,720,690.720182997,668.279817003,640.279817003,889,788,821,654,631,656,0.445021754631,0.0044835260789,0.0498628576346,0.999999976372,3.94231003952e-05,-0.00021049124248,3.73453607751e-05,1793250290681719808
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,746.302692815,720,691,668,640,889,787.697307185,821,654.302692815,631,656,0.445673328045,0.00449863512291,0.0498381986721,0.999999969895,5.76600860909e-05,-0.000235761684131,3.60894230193e-05,1793250290698386688
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746.897201785,720,691,668,640,889,787.102798215,821,654.897201785,631,656,0.446343412847,0.00451542953962,0.0498405424532,0.999999973844,8.00058425008e-05,-0.000211548765879,3.40180589526e-05,1793250290715053568
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,747,720,691,668,640,889.47863631,787,821.47863631,654.52136369,631,656.47863631,0.446970149722,0.00452209806459,0.0498327295004,0.999999970902,9.23629545639e-05,-0.000220209378894,3.4261324878e-05,1793250290731720448
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,747,720,691,668,639.942871207,889.942871207,787.057128793,822,654,631.057128793,656.942871207,0.447578867843,0.00452623850856,0.0498201540897,0.999999965421,0.000102070273435,-0.000239823057224,3.49904418992e-05,1793250290748386816
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,747,720,691,668,639.366276082,889.366276082,787.633723918,822,654,631.633723918,656.366276082,0.448106146955,0.00452664051565,0.0497835819087,0.999999949704,0.00010667153418,-0.000296539827821,3.57372816392e-05,1793250290765053440
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,746.790729393,720,691,668,639,889.209270607,787.790729393,822,654,631.790729393,656.209270607,0.448633504742,0.00452835300873,0.0497588010848,0.999999937128,0.00011072858018,-0.000334893490672,3.64577570614e-05,1793250290781719808
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,746.217008642,720,691,668,639,889.782991358,787.217008642,822,654,631.217008642,656.782991358,0.449160999486,0.00453234774684,0.0497545552165,0.999999934599,0.000113837862211,-0.000341267324453,3.71323184319e-05,1793250290798386688
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,746.366781031,720,691,667.633218969,638.633218969,890,787.366781031,822.366781031,654,631.366781031,656.633218969,0.449669586304,0.00453326744504,0.0497637876909,0.999999938031,0.000115270610338,-0.00033036009763,3.89085241333e-05,1793250290815053312
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,746.95669627,720,691,667.04330373,638.04330373,890,787.95669627,822.95669627,654,631.95669627,656.04330373,0.450166670383,0.00453231641822,0.0497812198239,0.999999944732,0.000115683425762,-0.00030893979828,4.1354924127e-05,1793250290831719936
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,746.461386392,720.538613608,691.538613608,666.461386392,638,890,787.461386392,823,654.538613608,631.461386392,656.538613608,0.450635209771,0.00453090225324,0.0497852853752,0.999999944765,0.000113763868544,-0.000309385346234,4.25174444693e-05,1793250290848386560
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,746,721,692,666,637.881701462,890,787.118298538,822.881701462,654.881701462,631,656.881701462,0.451081192907,0.0045297290698,0.0497845656307,0.999999942048,0.000111761515566,-0.000318617399695,4.35417347411e-05,1793250290865053440
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,746,721,692,666,637.308168821,890,787.691831179,822.308168821,654.308168821,631,656.308168821,0.45144907782,0.00452962441919,0.0497695061561,0.999999929936,0.00011015159845,-0.000354995465695,4.44254959554e-05,1793250290881720064
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,746.265940835,721,691.734059165,666,637,889.734059165,787.734059165,822.265940835,654.265940835,631,656,0.451796764243,0.00453009005566,0.0497476160426,0.999999914323,0.000105382641704,-0.000397967790153,4.32559089606e-05,1793250290898386944
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,746.840720546,721,691.159279454,666,637,889.159279454,787.159279454,822.840720546,654.840720546,631,656,0.452120994003,0.00453121797034,0.0497177934631,0.999999893893,9.69450710485e-05,-0.000448598068724,3.97017548222e-05,1793250290915054080
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,746.571249627,721,691,666,636.571249627,889.428750373,787,822.571249627,654.571249627,631,656,0.452445558255,0.0045331961524,0.0497064489894,0.999999888477,0.000103087313628,-0.00046017503041,2.56367200545e-05,1793250290931720960
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,746,720.978738291,691.021261709,665.978738291,636,890,787,822,654.021261709,631,656,0.452769715898,0.00453601017942,0.0497027822224,0.999999889305,0.000114987168766,-0.000456178269307,8.26692312309e-06,1793250290948387328
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,746,720.401849846,691.598150154,665.401849846,636,890,787,822,654.598150154,631,656,0.453079896994,0.00455214929849,0.0497146445528,0.999999896099,0.000131291215351,-0.000436426718769,9.83078115798e-06,1793250290965053952
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,746,720,692,665,636,890,787,822.174453963,655,631,656,0.453371362885,0.00456717172785,0.0497230388183,0.999999900252,0.000145127668384,-0.000422285861063,1.04193395365e-05,1793250290981720320
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,746,720,692,665,636,890,787,822.749415497,655,631,656,0.453619862779,0.00457963048331,0.0497234711751,0.99999989958,0.000153299072321,-0.00042102591184,8.76882620806e-06,1793250290998387200
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,746.331746995,720.331746995,692,664.668253005,635.668253005,890,787.331746995,823,655,631,656,0.453839031676,0.00458459901488,0.0497167371948,0.999999895481,0.000155867958055,-0.000429736088268,8.38685476726e-06,1793250291015054080
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,746.919771926,720.919771926,692,664.080228074,635.080228074,890,787.919771926,823,655,631,656,0.454035542106,0.00458378127345,0.0497044671462,0.999999888561,0.000154108842194,-0.000446148288215,8.98484469258e-06,1793250291031720960
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,721,692,664.500090705,635,890,787.499909295,823,654.499909295,631,656,0.454203843166,0.00458083082072,0.0496911652585,0.999999879483,0.000148619923835,-0.000467811303159,9.91212282553e-06,1793250291048387328
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,720.920876654,692,664.920876654,635,890,787,823,654,631,656,0.454365657397,0.00457820133347,0.0496791529998,0.999999870783,0.000143424540652,-0.00048759242914,1.08174947417e-05,1793250291065053696
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,720.342276946,692,664.342276946,635,890,787,823,654,631,656,0.454514657308,0.00457972503589,0.049676310787,0.999999869421,0.000143802044417,-0.000490257009794,1.12561664081e-05,1793250291081720320
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,720.234558063,691.765441937,664,635,890,787,823,654.234558063,631,656.234558063,0.454646039686,0.00457984026536,0.049671124842,0.999999866318,0.000142802307466,-0.00049682222206,1.18291617113e-05,1793250291098386944
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,720.808837142,691.191162858,664,635,890,787,823,654.808837142,631,656.808837142,0.454751905788,0.00457791553988,0.0496625443642,0.999999860588,0.00013980785066,-0.000509036894733,1.25967039661e-05,1793250291115053568
+218,3.633333333,POSE1_TO_POSE2_PRESS,769.605879719,746.605879719,720.605879719,691.394120281,664,634.605879719,890,787.394120281,823,655,631,657,0.454838800215,0.00457879187428,0.049652021414,0.999999851707,0.000141401781067,-0.000525770174019,1.25415070177e-05,1793250291131720448
+219,3.650000000,POSE1_TO_POSE2_PRESS,769.01510592,746.01510592,720.01510592,691.98489408,664,634.01510592,890,787.98489408,823,655,631,657,0.454916228374,0.00458106584875,0.049640529232,0.999999840992,0.000145285171179,-0.00054475809415,1.20757892819e-05,1793250291148387328
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.127121633,746,720,692,664,634,890,787.436439183,823,655,631,656.436439183,0.454983613291,0.004582376837,0.0496356829505,0.999999836832,0.000146302854395,-0.0005520778415,1.19029906797e-05,1793250291165053952
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.859020619,746,720.140979381,691.859020619,664,634,890,787,823,655,631,656,0.45504674241,0.00458299359227,0.0496315401121,0.999999833126,0.000146344837683,-0.00055873984409,1.18996032273e-05,1793250291181720576
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.284463807,746,720.715536193,691.284463807,664,634,890,787,823,655,631,656,0.455097593467,0.00458155297194,0.0496290243505,0.999999830381,0.000143617357233,-0.000564320622248,1.23935949357e-05,1793250291198386944
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746,720.70337931,691.29662069,664,634,890,787,823,654.70337931,631,656,0.455140879436,0.00458142926341,0.0496276644983,0.999999828731,0.000143440365089,-0.00056727594638,1.26917871753e-05,1793250291215053568
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,746,720.115893725,691.884106275,664,634,890,787,823,654.115893725,631,656,0.455176747122,0.00458259691241,0.0496274381252,0.999999828177,0.000145764369809,-0.00056765676296,1.27979794091e-05,1793250291231720448
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,746.464630869,720,692,663.535369131,634,890,787,823,654.464630869,631,656,0.455205301482,0.00458205085372,0.0496278089933,0.999999828705,0.000146005453711,-0.000566664745384,1.28067342085e-05,1793250291248387072
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.043297439,747,720.043297439,692,663.043297439,634,890,787,823,654.956702561,631,656.043297439,0.455231088423,0.00458126133304,0.0496280973768,0.99999982926,0.000145795523068,-0.000565737519563,1.28034105914e-05,1793250291265053696
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.620148541,747,720.620148541,692,663.620148541,634,890,787,823,654.379851459,631,656.620148541,0.455244920002,0.00458266138127,0.0496255606359,0.999999826892,0.000146335610462,-0.000569766175838,1.29463218238e-05,1793250291281720576
+228,3.800000000,POSE1_TO_POSE2_PRESS,770.803051584,746.803051584,720.803051584,691.803051584,663.803051584,634,890,787,823,654.196948416,631,656.803051584,0.45525606282,0.0045837928625,0.0496233214098,0.999999824488,0.00014736210272,-0.000573706347582,1.29809635436e-05,1793250291298387712
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.226350518,746.226350518,720.226350518,691.226350518,663.226350518,634,890,787,823,654.773649482,631,656.226350518,0.455262021215,0.00458440649721,0.0496216558469,0.99999982203,0.000149326472691,-0.000577475904699,1.28068417875e-05,1793250291315054336
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,746.356297745,720.356297745,691.71259549,663.356297745,634,890,787,823,655,631,656,0.455266259786,0.00458456453193,0.0496198500264,0.999999820129,0.000149397988925,-0.000580741359802,1.27295905697e-05,1793250291331720960
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,746.942788283,720.942788283,692.885576566,663.942788283,634,890,787,823,655,631,656,0.455269387233,0.00458442821777,0.0496179535898,0.999999818589,0.00014824659168,-0.000583681130266,1.27149243737e-05,1793250291348387584
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746.476368286,720.476368286,692.476368286,663.476368286,634,890,787,823,655,631,656,0.455271409974,0.00458508988871,0.0496179054424,0.999999818069,0.000148910409884,-0.000584405032139,1.26202974311e-05,1793250291365053952
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,746.103179411,720.103179411,692,663,634,890,787,823,655,631,656,0.455273259749,0.00458560552866,0.0496179121148,0.999999817803,0.000149291571928,-0.000584764230656,1.24896705832e-05,1793250291381720832
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,746.679583773,720.679583773,692,663,634,890,787,823,655,631,656,0.455274863894,0.00458505579541,0.0496172538985,0.999999818202,0.000147476432932,-0.00058454929134,1.22335744545e-05,1793250291398387200
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746.745797705,720.745797705,692,663.254202295,633.745797705,890,787,823,655,631,656,0.455275914766,0.00458608431199,0.0496167341513,0.99999981783,0.00014866196344,-0.000584885893687,1.21495150282e-05,1793250291415053824
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746.173414413,720.173414413,692,663.826585587,633.173414413,890,787,823,655,631,656,0.455276273115,0.00458908829886,0.0496163877234,0.999999816481,0.000153603384317,-0.000585912851984,1.22807911901e-05,1793250291431720448
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,746.413886214,720,692,663.586113786,633.413886214,890,787,823,654.586113786,631,656,0.455275484149,0.00459008493169,0.0496149838014,0.999999815397,0.000154671259442,-0.00058748764567,1.18386491308e-05,1793250291448387072
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,720.007461142,692,663,634,890,787,823,654.007461142,631,656.007461142,0.455274224554,0.00459018336281,0.0496131539854,0.999999814454,0.000154034311713,-0.000589271580711,1.11631137345e-05,1793250291465053952
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,720.585022249,692,663,634,890,787,823,654.585022249,631,656.585022249,0.455275108929,0.00458831866942,0.049613903183,0.999999815046,0.000151780462181,-0.000588841272972,1.1698402421e-05,1793250291481720576
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,746.837864575,721,692,663,634,890,787,823,654.837864575,631,656.837864575,0.455275741405,0.00458733086905,0.0496143730859,0.999999815309,0.00015029048705,-0.000588770235901,1.2026718738e-05,1793250291498387200
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,746.261894731,721,692,663,634,890,787,823,654.261894731,631,656.261894731,0.455275730933,0.00458858125032,0.0496141301169,0.999999814744,0.000150750224884,-0.000589616201227,1.18267587999e-05,1793250291515053568
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.320272857,746.320272857,721,692,663.320272857,634,890,787,823,654.320272857,631,656.320272857,0.45527632558,0.00458954789476,0.0496140025658,0.999999814466,0.000152378000143,-0.000589670600164,1.16869353991e-05,1793250291531720192
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.907608469,746.907608469,721,692,663.907608469,634,890,787,823,654.907608469,631,656.907608469,0.455277424811,0.00459027794233,0.049613971257,0.999999814425,0.000154979755174,-0.000589064943435,1.15972574668e-05,1793250291548386816
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.512021489,746.512021489,721,692,664,634,890,787,823,655,631.487978511,656.512021489,0.455278985711,0.00459078900393,0.0496147963205,0.999999815011,0.000154709452415,-0.000588144441008,1.13359681666e-05,1793250291565053440
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.066826353,746.066826353,721,692,664,634,890,787,823,655,631.933173647,656,0.455280300482,0.00459101945865,0.049615682116,0.999999815586,0.000154028179816,-0.000587348095831,1.11598498304e-05,1793250291581720064
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.643979071,746.643979071,721,692,664,634,890,787,823,655,631.356020929,656,0.455279077536,0.00458941920058,0.0496158109123,0.999999815183,0.00015430269766,-0.000587948712784,1.18787856403e-05,1793250291598386944
+247,4.116666667,HOLD_POSE2,770,747,720,692,664,633,890,787,823,655,631,656,0.455274763327,0.00458732748519,0.0496117353573,0.999999813111,0.000150466893047,-0.000592443522138,1.2204004812e-05,1793250291637697280
+248,4.133333333,HOLD_POSE2,770.589361395,746.410638605,720.589361395,692,664,633,890,787,823,655,631,656,0.45527521934,0.00458767470673,0.0496131599181,0.99999981346,0.000152040878658,-0.000591454625243,1.20077418336e-05,1793250291654363648
+249,4.150000000,HOLD_POSE2,770.824417278,746.175582722,721,692,664,633.175582722,890,787,823,655,631,656,0.455275911654,0.00458826264872,0.049613925126,0.999999813642,0.000153569764955,-0.000590755124335,1.18293431458e-05,1793250291671030016
+250,4.166666667,HOLD_POSE2,770.24541055,746.75458945,721,692,664,633.75458945,890,787,823,655,631,656,0.455277146902,0.00458940367711,0.0496131753857,0.999999813445,0.00015499503006,-0.000590720547933,1.16919899371e-05,1793250291687696384
+251,4.183333333,HOLD_POSE2,770,747,720.668209006,692,663.668209006,634,889.668209006,787,823,655,631,656,0.455277681935,0.00459042983347,0.04961297354,0.99999981336,0.000155074066221,-0.000590843174203,1.17122579724e-05,1793250291704363008
+252,4.200000000,HOLD_POSE2,770,747,720.092335484,692,663.092335484,634,889.092335484,787,823,655,631,656,0.455277701854,0.00459137148398,0.0496131747537,0.999999813358,0.000154162747016,-0.00059108144685,1.18484803136e-05,1793250291721029632
+253,4.216666667,HOLD_POSE2,770,746.518767612,720,692,663,634,889.481232388,787,823,655,631,656,0.455276881919,0.00459113643238,0.0496123763872,0.999999812443,0.000154012139217,-0.000592668213248,1.17674059086e-05,1793250291737696256
+254,4.233333333,HOLD_POSE2,770,746.05643818,720,692,663.05643818,634,890,787,822.94356182,654.94356182,631,656,0.455276176274,0.00459076596298,0.0496116687928,0.999999811612,0.000154070696763,-0.000594057128758,1.16321234854e-05,1793250291754363392
+255,4.250000000,HOLD_POSE2,770,746.651476701,720,692,663.651476701,634,890,787,822.348523299,654.348523299,631,656,0.455278091832,0.00459124753788,0.0496136490381,0.999999813263,0.000154739077338,-0.000591100489011,1.13755141341e-05,1793250291771029760
+256,4.266666667,HOLD_POSE2,770,747,720.238944097,692,664,633.761055903,890,787,822.238944097,654,631,656,0.455278589893,0.00459177840326,0.0496140757951,0.999999813663,0.000155016409882,-0.000590354047674,1.11844942411e-05,1793250291787696384
+257,4.283333333,HOLD_POSE2,770,747,720.815707384,692,664,633.184292616,890,787,822.815707384,654,631,656,0.455277083898,0.0045923789555,0.0496123062303,0.9999998123,0.000154740878616,-0.000592732385346,1.1086204753e-05,1793250291804363008
+258,4.300000000,HOLD_POSE2,770,746.609267108,720.609267108,692,664,633.390732892,890,787,823,654.390732892,631,656,0.455276784212,0.00459203912977,0.0496119625495,0.999999811891,0.000154910353745,-0.000593374896362,1.12984963327e-05,1793250291821029376
+259,4.316666667,HOLD_POSE2,770,746.035057559,720.035057559,692,664,633.964942441,890,787,823,654.964942441,631,656,0.455277050972,0.00459125773029,0.0496122884218,0.99999981193,0.000155288790744,-0.000593202314521,1.16566276248e-05,1793250291837696256
+260,4.333333333,HOLD_POSE2,770,746,720.553724418,692,664,633.446275582,890,787,823,655,631,656,0.455277886342,0.00459279110811,0.0496126939939,0.999999812171,0.00015821378662,-0.00059202342616,1.16340567356e-05,1793250291854362880
+261,4.350000000,HOLD_POSE2,770,746,720.859132825,692,663.859132825,633.140867175,890.140867175,787,822.859132825,655,631,656,0.455278134958,0.00459384561004,0.0496125314653,0.999999812083,0.000159919119658,-0.000591717780979,1.14251195119e-05,1793250291871029504
+262,4.366666667,HOLD_POSE2,770,746,720.280037195,692,663.280037195,633.719962805,890.719962805,787,822.280037195,655,631,656,0.455276443196,0.00459294211916,0.0496105854914,0.999999810953,0.000157315035361,-0.000594332296788,1.07134188557e-05,1793250291887696128
+263,4.383333333,HOLD_POSE2,770,746,720,692,663,633.701783632,890.701783632,787,822.298216368,654.701783632,631,656,0.455275915431,0.00459089519645,0.049609966748,0.999999810769,0.0001541276959,-0.00059547450288,1.07594773548e-05,1793250291904362752
+264,4.400000000,HOLD_POSE2,770,746,720,692,663,633.124318614,890.124318614,787,822.875681386,654.124318614,631,656,0.455276477629,0.00458777756866,0.0496105908184,0.99999981147,0.000150394198721,-0.000595238043703,1.15150986322e-05,1793250291921029376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,746,721,692,663,633,889,787,823,655,631,656,0.455279004045,0.00459147040858,0.0496132322542,0.999999812826,0.000155006569144,-0.000591764531487,1.16498442396e-05,1793250291953632256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746,721,692,663.588891934,633,889,787,823,655,631,656,0.45527859474,0.00459325953887,0.049613074595,0.999999812137,0.000156367065906,-0.000592581698937,1.11002939621e-05,1793250291970298880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,746.174714401,721,692,663.825285599,633,889.174714401,787,823,655,631,656,0.455278353088,0.00459393998481,0.0496127442851,0.999999811774,0.000156896531352,-0.000593058225842,1.08509493702e-05,1793250291986965760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746.753439135,721,692,663.246560865,633,889.753439135,787,823,655,631,656,0.455278499115,0.00459205670464,0.0496120147371,0.999999812171,0.000155504316679,-0.000592747054244,1.12958015891e-05,1793250292003632384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.330517123,746.669482877,721,692,663,633.330517123,890,787,823,655,631,656,0.45527802125,0.00459154472367,0.049611609141,0.999999811874,0.000154965654485,-0.000593385463765,1.14236535716e-05,1793250292020299008
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.906372718,746.093627282,721,692,663,633.906372718,890,787,823,655,631,656,0.455277080278,0.00459205063998,0.0496114440102,0.999999811063,0.000155060573045,-0.000594728734761,1.13162004608e-05,1793250292036965632
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.509084608,746.490915392,721,692.490915392,663,634,890,787.490915392,823,654.509084608,631,656,0.455276009657,0.0045939181443,0.0496105749528,0.999999809881,0.000156920033059,-0.000596229692263,1.11118580836e-05,1793250292053632256
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,720.923815588,692.923815588,663.076184412,633.923815588,890,787.923815588,823,654.076184412,631.076184412,656,0.455274323048,0.0045955437823,0.0496094765975,0.999999808552,0.000158763123846,-0.000597971402809,1.09478462902e-05,1793250292070298880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,720.344883651,692.344883651,663.655116349,633.344883651,890,787.344883651,823,654.655116349,631.655116349,656,0.455268737598,0.00459382879039,0.0496077669908,0.999999806758,0.000158237375821,-0.000601099827882,1.11741187774e-05,1793250292086965760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,747,720.234242191,692,663.765757809,633.234242191,890,787,823,655,631.765757809,656,0.455254124992,0.00459350066561,0.0496010097156,0.999999800163,0.000158735856557,-0.000611844644879,1.10834590189e-05,1793250292103632384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,747,720.813653714,692,663.186346286,633.813653714,890,787,823,655,631.186346286,656,0.455226210353,0.00459521616939,0.049586814411,0.999999786166,0.00016074359723,-0.000633812652638,1.05257813572e-05,1793250292120299008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.388163129,634,890,787,823,655,631,656,0.455179798031,0.00459520655155,0.0495662364036,0.999999763517,0.000160888111407,-0.000668563050592,1.02606879225e-05,1793250292136966144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.960348579,634,890,787,823,655,631,656,0.455124616234,0.00459437907956,0.0495426324513,0.999999735519,0.000160149297805,-0.000709373389252,1.0134304222e-05,1793250292153633536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.547442876,747,721,692,664,634,890,787,822.452557124,655,631,656.547442876,0.455061507958,0.00459431954739,0.0495239772907,0.999999719899,0.000160274164617,-0.000731047245532,9.11348762248e-06,1793250292170300160
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770.865491802,747,720.865491802,692,664,633.865491802,890,787,822,655,631,656.865491802,0.454993901778,0.00459442491588,0.0495078161234,0.999999705779,0.000160264702291,-0.000750127631653,8.10004224683e-06,1793250292186967040
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770.282226548,747,720.282226548,692,664,633.282226548,890,787,822,655,631,656.282226548,0.454913258354,0.00459488967311,0.049498746269,0.999999694389,0.000159592531224,-0.000765309226798,7.33337762515e-06,1793250292203633408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,720,692,664,633.296465618,889.703534382,787,822.296465618,655,631,656,0.454829987789,0.00459707221942,0.0494948983706,0.999999692208,0.000161867926463,-0.000767686521392,6.35297962012e-06,1793250292220299776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,747,720,692,664,633.870870437,889.129129563,787,822.870870437,655,631,656,0.454744254262,0.00460086520851,0.0494959461038,0.99999969873,0.000166906691848,-0.000758059667447,5.17220467982e-06,1793250292236966144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,746.554467791,720.445532209,692,664.445532209,634,889.445532209,787,822.554467791,655,631,656,0.454637773396,0.00460181770494,0.049499088387,0.999999700951,0.000170091281213,-0.000754415327739,4.94012639073e-06,1793250292253633024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,746,721,692,664.979126677,633.979126677,889.979126677,787,822,654.979126677,631,656,0.454524487947,0.00460200866367,0.0495030015655,0.999999702153,0.000172771478313,-0.000752208847758,4.98218979883e-06,1793250292270299648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,746,721,692,664.387239637,633.387239637,889.387239637,787,822,654.387239637,631,656,0.454389649438,0.00460390127042,0.0495113868452,0.999999709246,0.000176363120131,-0.000741875788397,4.99745035167e-06,1793250292286965760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.199854262,746.199854262,721,692,664,633.199854262,889.199854262,787,822,654.199854262,631,656.199854262,0.454242914249,0.00460582923257,0.0495208577349,0.999999717575,0.000180014757296,-0.000729672378379,4.87141188242e-06,1793250292303632640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.777878377,746.777878377,721,692,664,633.777878377,889.777878377,787,822,654.777878377,631,656.777878377,0.45407366784,0.00460782409498,0.0495323828453,0.999999728254,0.000183779918934,-0.000713929839434,4.47800342843e-06,1793250292320299776
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.645964141,747,721,692,664,634,890,787,822,655,631,656.645964141,0.453880772548,0.0046104038495,0.0495394719306,0.999999733805,0.000189110926894,-0.000704708640921,3.53474089039e-06,1793250292336966400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.070971583,747,721,692,664,634,890,787,822,655,631,656.070971583,0.453673117778,0.0046133486402,0.0495437924572,0.999999736213,0.000195419192827,-0.000699557463233,2.24830984812e-06,1793250292353633024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,721,691.484761404,664,634,890,787,822,655,631,656,0.453433471985,0.00461611652164,0.0495448727743,0.99999973253,0.000201617368085,-0.000703055420685,1.73990604983e-06,1793250292370299648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746.898499426,720.898499426,691.101500574,664,634.101500574,890,787,822,655,631,656.101500574,0.453182676565,0.0046189470737,0.0495466980961,0.999999729648,0.000207646275944,-0.000705396576566,1.28633726707e-06,1793250292386966272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,746.319425566,720.319425566,691.680574434,664,634.680574434,890,787,822,655,631,656.680574434,0.452900615738,0.00462218970819,0.0495541755062,0.999999734725,0.000212951699694,-0.000696564497538,5.75305565515e-07,1793250292403632640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,746.258896286,720.258896286,692.258896286,664,635,890,787,821.741103714,655.258896286,631,656.741103714,0.4525976264,0.00462504019965,0.0495627041957,0.999999739253,0.000219235297311,-0.000688062567617,1.69299177845e-08,1793250292420299008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,746.836292965,720.836292965,692.836292965,664,635,890,787,821.163707035,655.836292965,631,656.163707035,0.452268890324,0.00462740826719,0.0495725261934,0.999999743121,0.000226722267463,-0.000679966795552,-3.53644564516e-07,1793250292436965632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,746.587735278,721,692.587735278,664.412264722,635,889.587735278,787,821,655.587735278,631,656,0.451915020026,0.00463040807429,0.0495787680466,0.999999745475,0.00023434847994,-0.000673891803686,-1.22687168717e-06,1793250292453632768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,746.012327411,721,692.012327411,664.987672589,635,889.012327411,787,821,655.012327411,631,656,0.451551203514,0.00463365787599,0.0495835931496,0.999999747184,0.000242029793793,-0.000668616483699,-2.29901063681e-06,1793250292470299648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,746,720.425318578,691.425318578,665,635.574681422,889.574681422,787,821,654.425318578,631,656,0.451152357409,0.00464023826066,0.0495794011559,0.999999745126,0.000250233750737,-0.000668655724529,-5.44740889626e-06,1793250292486966528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,746.15962661,720,691,665,636,889.84037339,787,820.84037339,654.15962661,631,656.15962661,0.450749425005,0.00464591344494,0.0495819302386,0.999999751607,0.000257457277027,-0.00065607308988,-8.37814801676e-06,1793250292503633408
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,746.738484868,720,691,665,636,889.261515132,787,820.261515132,654.738484868,631,656.738484868,0.450337774832,0.00464901977532,0.0496026295271,0.99999977953,0.000262075819602,-0.000610035709381,-1.06178625172e-05,1793250292520299520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,747,720.319070734,691,665,636,889,787.319070734,819.680929266,654.680929266,631,656.680929266,0.449897872252,0.00465305266082,0.0496244656523,0.999999802093,0.000268595978587,-0.000568784777609,-1.241457789e-05,1793250292536965888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,747,720.901080345,691,665,636,889,787.901080345,819.098919655,654.098919655,631,656.098919655,0.449434687465,0.00465784909949,0.0496472386207,0.999999820393,0.000276683216598,-0.000531478243571,-1.38462280844e-05,1793250292553632512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769.528400932,746.528400932,721,691,665.471599068,636.471599068,889.471599068,787.528400932,819,654,631,656,0.448904289284,0.00466208534509,0.0496555230693,0.999999823747,0.000284515338695,-0.000520872268985,-1.57912260136e-05,1793250292570299136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,769.04157017,746,720.95842983,691,666,637,890,787,819,654,631,656,0.448357245882,0.00466607786247,0.0496594782984,0.999999823413,0.000292038895193,-0.000517267954435,-1.7929331823e-05,1793250292586965760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,769.635530901,746,720.364469099,691,666,637,890,787,819,654,631,656,0.447771901497,0.00466835593872,0.0496453286225,0.999999813314,0.000296156347931,-0.000534052095827,-2.1236696795e-05,1793250292603632384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,746.222780004,720,691,666,637.222780004,889.777219996,787.222780004,819,654,631,656,0.447169224328,0.00466998190103,0.0496319016364,0.99999980211,0.000301009959255,-0.00055189437474,-2.41823629306e-05,1793250292620299520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,746.799369942,720,691,666,637.799369942,889.200630058,787.799369942,819,654,631,656,0.446539019988,0.004670572203,0.0496196223967,0.999999789254,0.000307032706802,-0.000571417142692,-2.65535938249e-05,1793250292636966656
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769.625215606,746.625215606,720,691,666.374784394,638.374784394,889,788,819,654,631,656,0.445902872578,0.00467010169824,0.0496310112013,0.999999798056,0.000309584759915,-0.000554290350908,-2.84139275154e-05,1793250292653633536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769.050428466,746.050428466,720,691,666.949571534,638.949571534,889,788,819,654,631,656,0.445263553684,0.00466906509661,0.0496550303982,0.999999817454,0.000310284685221,-0.000517605613011,-3.00016221004e-05,1793250292670300160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,769.537647941,746.537647941,720,690.462352059,668.075295882,639,889,788,819,654,631,656,0.444617195871,0.00466699321263,0.0496973747486,0.99999984305,0.000312815585243,-0.000463675013147,-3.24291337851e-05,1793250292686966528
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770.120509586,746.879490414,720,690,668.879490414,639.120509586,889,788,819,654,630.879490414,655.879490414,0.443949514752,0.00465819502555,0.0497326157344,0.999999863894,0.00030740310531,-0.000420158889704,-3.43844145941e-05,1793250292703632896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770.679734019,746.320265981,720,690,668.320265981,639.679734019,889,788,819,654,630.320265981,655.320265981,0.443206670755,0.00462527221497,0.0497355810568,0.999999873851,0.000272431724701,-0.000420594656763,-3.4326509004e-05,1793250292720299520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770.744053108,746,720,689.744053108,668,640,889,788,819,654,630.255946892,655.255946892,0.442468843776,0.00459988537754,0.0497432832021,0.999999901471,0.000176884019121,-0.000405636637175,-3.5066447374e-05,1793250292736966400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770.145071257,746,720,689.145071257,668,640,889,788,819,654,630.854928743,655.854928743,0.441737740793,0.00458459868636,0.0497573339143,0.999999930853,1.48378833623e-07,-0.000370046957569,-3.68757020022e-05,1793250292753633536
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,746,720,689.432947602,668.865895203,640,888.567052398,787.567052398,819,654,631,656,0.44097708163,0.00458666860637,0.0497930616171,0.999999951391,-2.57614412031e-05,-0.000308218052614,-3.94561295761e-05,1793250292770300416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,769.995580225,746.004419775,720,690,670,640,888.004419775,787.004419775,819,654,631,656,0.440206411878,0.00459429124568,0.0498352711963,0.999999970593,-3.49727075106e-06,-0.000238775448388,-4.22904528847e-05,1793250292786967296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,769.403748553,746.596251447,720,690,670,640,888.596251447,787.596251447,819,654,631,656,0.439360731988,0.00460264381344,0.049818184318,0.999999961838,1.4724513106e-05,-0.000271993586949,-4.61118040102e-05,1793250292803633152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769.184065941,746.815934059,720,689.815934059,669.815934059,640,889,788,819,654,631,656,0.438495861594,0.00460954009478,0.0497953399322,0.999999948712,3.24295072721e-05,-0.000314716159143,-4.97882741997e-05,1793250292820299264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769.763256926,746.236743074,720,689.236743074,669.236743074,640,889,788,819,654,631,656,0.437589795963,0.00461331023921,0.0497601361974,0.999999926004,4.90251340246e-05,-0.000377841416125,-5.31537355685e-05,1793250292836965632
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,746.340841551,720,689.340841551,669,640,889,788,819,654,631,656,0.436711084683,0.00461619288492,0.0497641171176,0.999999926277,6.10562131383e-05,-0.000374864413456,-5.65239913079e-05,1793250292853632512
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,746.917315632,720,689.917315632,669,640,889,788,819,654,631,656,0.435851284206,0.00461846197979,0.049795187399,0.999999942561,6.99317023692e-05,-0.000326189215893,-5.98975613827e-05,1793250292870299392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,746.509452529,720,689.509452529,669,640,888.509452529,788,819,654,631,656,0.434917482687,0.00461365709935,0.0497795934152,0.999999931337,6.41594369274e-05,-0.000359656254326,-6.21081390092e-05,1793250292886966016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,746,720,688.934739857,669,640.065260143,888.065260143,788,818.934739857,654,631,656,0.433981959752,0.00460702259677,0.0497611116641,0.999999917516,6.28453559415e-05,-0.000396654071745,-6.06998393559e-05,1793250292903632896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,746,720,688.343723611,669,640.656276389,888.656276389,788,818.343723611,654,631,656,0.433132397805,0.00459519100816,0.0497823160938,0.999999930928,0.000117207889152,-0.00035128558816,-3.17056303865e-05,1793250292920299776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.242419893,641,888.757580107,788,818.242419893,654.242419893,631,656,0.432253506732,0.00459262440531,0.0497979962835,0.999999936801,0.000154677421024,-0.000319642229352,-1.73773108199e-05,1793250292936966400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.821790629,641,888.178209371,788,818.821790629,654.821790629,631,656,0.431333849601,0.00460293564144,0.0498059980746,0.999999938353,0.000168666582116,-0.000307076064452,-2.34337986789e-05,1793250292953632768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.602576073,641,888,788.397423927,819,654.602576073,631,656,0.430378007182,0.00460479021487,0.0497861574899,0.999999927059,0.000169569137721,-0.000341080884724,-2.81516768981e-05,1793250292970299392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.028603106,641,888,788.971396894,819,654.028603106,631,656,0.4294060901,0.00460288805439,0.0497539483873,0.999999907604,0.000164658182888,-0.000395774098884,-3.22748993758e-05,1793250292986966016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746.56131592,720,688,669.56131592,640.43868408,888,788.43868408,819,654,631,656,0.428473430569,0.0046078355023,0.0497648895073,0.999999913277,0.00016482705224,-0.000380796658714,-3.56731332525e-05,1793250293003632640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,746.850927348,720,688,670,640.149072652,888,788.149072652,819,654,631,656,0.427531301793,0.00461310159696,0.0497710507371,0.999999915779,0.000160676379988,-0.00037576113519,-3.77905417127e-05,1793250293020299264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,746.271820847,720,688,670,640.728179153,888,788.728179153,819,654,631,656,0.426555917379,0.00461825058351,0.0497568948446,0.999999905045,0.00014329645513,-0.00040994619812,-3.63228064853e-05,1793250293036966400
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.695144472,641,888,788.695144472,818.695144472,654,631,656,0.425637730745,0.00461676969757,0.0497586189453,0.999999911425,0.000135886252728,-0.000396614654598,-3.7177223622e-05,1793250293053633024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.120617785,641,888,788.120617785,818.120617785,654,631,656,0.424770140561,0.00460942411404,0.0497743902781,0.999999931546,0.000137295135364,-0.000341250548621,-4.00857859785e-05,1793250293070299648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,746,720,687.54633525,669.45366475,641,887.54633525,788.45366475,818,654,631,656,0.423893794117,0.00460316826211,0.0498049393757,0.999999948991,0.000132888606231,-0.000287592359256,-4.05991826355e-05,1793250293086966528
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,745.971274752,719.971274752,687,669.971274752,641,887,788.971274752,818,653.971274752,631,656,0.42301175545,0.00459782890642,0.0498364458266,0.999999962416,0.000127341950501,-0.000239400525895,-4.04900654548e-05,1793250293103633152
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,745.379700244,719.379700244,687,669.379700244,641,887,788.379700244,818,653.379700244,631,656,0.422063775461,0.004604773587,0.0498097659551,0.999999948872,0.000129735090537,-0.000289435477077,-4.06544181711e-05,1793250293120299520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,745.207111295,719.207111295,687,669,641,886.792888705,788,818,653.207111295,631,656,0.421139797208,0.00460991285401,0.0497954109995,0.999999939004,0.000135580654478,-0.000319362132723,-4.02250023987e-05,1793250293136965888
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,745.785387206,719.785387206,687,669,641,886.214612794,788,818,653.785387206,631,656,0.420258832362,0.00461181663648,0.049803143549,0.999999939291,0.000147613315927,-0.000313252676143,-3.8731492955e-05,1793250293153632512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,746,720,686.636768984,669.726462032,641,886.363231016,788,818,654,631,656,0.419360325266,0.00461532841897,0.049797039315,0.999999931722,0.000148570014398,-0.000336155606903,-3.84911021906e-05,1793250293170299136
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,746,720,686.05918021,670.88163958,641,886.94081979,788,818,654,631,656,0.418451465809,0.00461978914916,0.049782769418,0.999999918261,0.000142990324689,-0.000376179956277,-3.89902290152e-05,1793250293186966016
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.488011312,745.488011312,720,686,669.464033936,641,886.488011312,788,818,654,630.488011312,656,0.417614023393,0.00461786663735,0.049769717944,0.999999912951,0.000143358184427,-0.000389753618147,-4.04831216089e-05,1793250293203632640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769.08627498,745,719.91372502,686,668.08627498,641,886,788,818,654,630,656,0.41679129028,0.00461434758383,0.0497628587752,0.999999912622,0.000142417961557,-0.000390792804729,-4.18731362252e-05,1793250293220299264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.683357525,745,719.316642475,686,668.683357525,641,886,788,818,654,630,656,0.416007376283,0.00460569027605,0.049791838815,0.999999934427,0.000129713088152,-0.000335497012362,-4.19823644058e-05,1793250293236965888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,745,719,686,669,641,885.729530311,788,818,654,630.270469689,656,0.415221543519,0.00460202134927,0.049806068356,0.999999944303,0.000119094734028,-0.000308931714879,-4.20979983848e-05,1793250293253632256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,745,719,686,669,641,885.153675657,788,818,654,630.846324343,656,0.414433544345,0.00460398476052,0.0498036432356,0.999999943415,0.000110832251823,-0.000314805773056,-4.22208652015e-05,1793250293270298880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,745,719.42177496,685.57822504,669,641,885.42177496,788,818,654,631,656,0.413647830341,0.00460836079461,0.0497826217155,0.999999929732,0.000124138703464,-0.000351194004151,-4.22778795305e-05,1793250293286965760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,745,719.997078551,685.002921449,669,641,885.997078551,788,818,654,631,656,0.412862948088,0.00461361503814,0.0497548309934,0.999999909073,0.000145296376262,-0.000398689578057,-4.23109230685e-05,1793250293303632384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,745.586813081,719.413186919,685,669,641,885.413186919,788,818,654,631,655.413186919,0.41217139855,0.00461635203466,0.049780473877,0.999999922118,0.000153491745847,-0.000361147895727,-4.215613524e-05,1793250293320298752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745.826681603,719,685,669,641,885.173318397,788,818,654,631,655.173318397,0.411482747376,0.00461742587298,0.049801369492,0.999999932398,0.000154208747729,-0.000331181645167,-4.17451475383e-05,1793250293336965632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,745.247902888,719,685,669,641,885.752097112,788,818,654,631,655.752097112,0.410799762064,0.00461463898339,0.049810521358,0.99999993852,0.000137585664155,-0.000319952692785,-4.07370497943e-05,1793250293353632256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,745.327271645,719.327271645,684.672728355,668.672728355,641,885.672728355,788,818,654,631,656,0.410135108048,0.00461181055187,0.0498027194691,0.999999934881,0.00012701950877,-0.000335339755875,-4.06462010384e-05,1793250293370298880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,745.899745773,719.899745773,684.100254227,668.100254227,641,885.100254227,788,818,654,631,656,0.409484188474,0.00460895099594,0.0497822152791,0.999999923133,0.000120991400449,-0.000370668397548,-4.1242584869e-05,1793250293386965504
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,746,719.523788813,684,668.476211187,641,885,788,818,654,630.523788813,656.476211187,0.408902483066,0.00460144724857,0.0497877764174,0.999999929548,0.000117191364849,-0.000354158141831,-4.17377371817e-05,1793250293403633152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,745.944948627,719.055051373,684,669,641,885,787.944948627,817.944948627,654,630.055051373,656.944948627,0.408337231694,0.00459369031031,0.0497995714327,0.999999938985,0.000114434575735,-0.000327357101045,-4.20897880039e-05,1793250293420300544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,745.351161115,719.648838885,684,669,641,885,787.351161115,817.351161115,654,630.648838885,656.351161115,0.407789199673,0.00459310450033,0.0498182176766,0.99999994498,0.000117257970579,-0.000307551391329,-4.12517597549e-05,1793250293436966912
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,745.235811634,720,684,669,641,885,787.235811634,817,654,631,656,0.407247487498,0.00459416588905,0.049824371405,0.999999945536,0.000118074828808,-0.000305465957333,-4.09539274617e-05,1793250293453633536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,745.812921105,720,684,669,641,885,787.812921105,817,654,631,656,0.406714922291,0.00459761132198,0.0498124443082,0.999999938285,0.000115987561194,-0.000329027655619,-4.14379383947e-05,1793250293470299904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,745.61253959,719.61253959,683.61253959,669,640.61253959,885,788,817.38746041,654,631,656,0.406205327521,0.00460146134723,0.0497915171682,0.99999992615,0.000117870775193,-0.000363343979465,-4.22802801322e-05,1793250293486966784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,745.039233019,719.039233019,683.039233019,669,640.039233019,885,788,817.960766981,654,631,656,0.40570675052,0.00460550543629,0.0497662731384,0.999999910531,0.000121658438334,-0.000402818782687,-4.32944959528e-05,1793250293503633408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,745,719,683.549860793,669,640.549860793,884.450139207,788,818,654,631,656,0.405281910389,0.00460892024829,0.0497670381279,0.999999909241,0.000127682889592,-0.00040406067537,-4.41606190953e-05,1793250293520300032
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,745,719.13742378,683.86257622,669,641,884.13742378,787.86257622,817.86257622,654,631,656,0.404876990574,0.00461149600136,0.0497756560551,0.999999913511,0.000132420528108,-0.00039170116036,-4.48592757902e-05,1793250293536966656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,745,719.716343083,683.283656917,669,641,884.716343083,787.283656917,817.283656917,654,631,656,0.404518665776,0.0046115246568,0.0498033646098,0.999999930809,0.000132496193817,-0.000344668012085,-4.50548704353e-05,1793250293553632768
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,745,719.705682919,683,669,641,885,787.294317081,817,654,631,656,0.404182916975,0.00461130393592,0.0498310988386,0.999999944483,0.000133685440222,-0.000301907102946,-4.48759428138e-05,1793250293570299392
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,745,719.128617103,683,669,641,885,787.871382897,817,654,631,656,0.403868856828,0.00461084364063,0.0498588577309,0.999999955126,0.000135944497279,-0.000263250512481,-4.43372138039e-05,1793250293586966016
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,745.44471286,719.44471286,683.44471286,669,641,885.44471286,787.55528714,817.44471286,654,631,656,0.403553304462,0.00461419996422,0.0498573646925,0.999999952192,0.000140900319159,-0.00027149237981,-4.53304807408e-05,1793250293603632384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,746,720,683.98248768,669,640.98248768,885.98248768,787.01751232,817.98248768,654.01751232,630.98248768,656,0.403238239958,0.00461840583814,0.0498472754012,0.999999945156,0.000146319124509,-0.00029341656164,-4.67518856389e-05,1793250293620299008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,746,720,683.391988386,669,640.391988386,885.391988386,787.608011614,817.391988386,654.608011614,630.391988386,656,0.40295314065,0.00461459314844,0.0498304241217,0.999999936696,0.000141579942783,-0.000322919354997,-4.78053539272e-05,1793250293636966400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.805255975,746,719.805255975,683,669,640,885,788,817,654.805255975,630,656,0.402680985336,0.00461189393617,0.0498162111154,0.999999929013,0.000136977961218,-0.000347584734065,-4.89421888264e-05,1793250293653633280
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.225961882,746,719.225961882,683,669,640,885,788,817,654.225961882,630,656,0.402434389833,0.00461139344554,0.0498072077609,0.999999924165,0.000132646901836,-0.000362697940301,-5.0243643018e-05,1793250293670299648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.350237712,745.649762288,719.350237712,683,669,640.350237712,885,788,817,654,630,656,0.402224638608,0.0046038204931,0.0498038622829,0.9999999288,7.78771135023e-05,-0.000365622811398,-5.15277892571e-05,1793250293686966272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.924458379,745.075541621,719.924458379,683,669,640.924458379,885,788,817,654,630,656,0.402038449899,0.00459172458136,0.0498041351122,0.999999933493,-9.14909814439e-06,-0.000360753034805,-5.28008665864e-05,1793250293703632640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745,719.498808179,683,669.501191821,640.498808179,884.498808179,788,817,654.501191821,630.501191821,656,0.401885916594,0.00457623415237,0.049810573662,0.999999937715,-3.31666692508e-05,-0.000347548877323,-5.17680476808e-05,1793250293720299008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.079911117,745,719.079911117,683,669.840177766,640,884,787.920088883,817,654.920088883,631,655.920088883,0.401743432344,0.00456371904599,0.049818194449,0.999999942516,-4.27075411403e-05,-0.000332539356751,-5.06106545131e-05,1793250293736965632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.668855845,745,719.668855845,683,668.66228831,640,884,787.331144155,817,654.331144155,631,655.331144155,0.401632484737,0.00457343226657,0.0498273964807,0.999999949168,-2.08320180136e-05,-0.000314071924648,-5.08847955529e-05,1793250293753632256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770.746109337,745,719.746109337,683,668.253890663,640.253890663,884.253890663,787.253890663,817,654.253890663,630.746109337,655.253890663,0.401525711308,0.00458096077064,0.0498339069703,0.999999953275,2.30101360959e-05,-0.000301539313255,-4.46513318714e-05,1793250293770299392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770.166096822,745,719.166096822,683,668.833903178,640.833903178,884.833903178,787.833903178,817,654.833903178,630.166096822,655.833903178,0.401424299605,0.00458568301184,0.0498369601811,0.999999951035,9.50683653655e-05,-0.000296629962764,-3.00588678316e-05,1793250293786966272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,745.410870867,719,683,669,641,884.589129133,788,817,654.589129133,630,656,0.401337481227,0.00458745068453,0.049835964546,0.999999949302,0.000116336678933,-0.000295217704055,-2.66111976511e-05,1793250293803632640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,745.986616708,719,683,669,641,884.013383292,788,817,654.013383292,630,656,0.401256518885,0.00458803274273,0.0498333441828,0.999999949173,0.000117223925421,-0.000295208764939,-2.76357300773e-05,1793250293820299520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,746,719,683,669,641,884.562136614,788.562136614,817,654,630.562136614,656,0.401195269197,0.00458789932354,0.0498316924869,0.999999948339,0.000117760885789,-0.000297764091051,-2.81203905418e-05,1793250293836965888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,746,719.141425948,683,669,641,885,788.858574052,817,654.141425948,630.858574052,656,0.401140535473,0.00458803255784,0.0498313584595,0.999999948173,0.000118584043732,-0.000297944195848,-2.86419361775e-05,1793250293853632512
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,746,719.732722682,683,669,641,885,788.267277318,817,654.732722682,630.267277318,656,0.401105036523,0.00458906816998,0.0498351425583,0.99999995017,0.000120344102853,-0.000290374688616,-2.93216812971e-05,1793250293870299136
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,745.683651684,719.683651684,683.316348316,669,641,885,788,817,654.683651684,630.316348316,656,0.401076159857,0.00458827282076,0.0498386655205,0.999999952535,0.000118936277272,-0.000282710262925,-2.93167488352e-05,1793250293886966016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,745.10635373,719.10635373,683.89364627,669,641,885,788,817,654.10635373,630.89364627,656,0.401052745781,0.00458596714684,0.0498419730764,0.99999995518,0.000114915324741,-0.000274967539986,-2.87470390835e-05,1793250293903632640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,745,719.466879096,683.533120904,669,640.533120904,885,788,817,654,631,656,0.401032576483,0.00458785198019,0.0498416950007,0.999999955071,0.000115738911556,-0.000274932467893,-2.95703257423e-05,1793250293920299520
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,640,884.959496758,788,817.040503242,654.040503242,630.959496758,656,0.401013764704,0.0045904660098,0.049840685666,0.999999954382,0.000117728664975,-0.000276477653191,-3.05983446367e-05,1793250293936966656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,640,884.368062103,788,817.631937897,654.631937897,630.368062103,656,0.401003450823,0.00459012634028,0.049840743923,0.999999954218,0.000120699410486,-0.000275841491223,-3.01321770566e-05,1793250293953633280
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,745.218630013,719.781369987,683,669,640.218630013,884.218630013,788,817.781369987,654.781369987,630,655.781369987,0.400995125349,0.00458982005917,0.0498409227532,0.999999954537,0.000120365163364,-0.000274831668015,-3.00975250895e-05,1793250293970299904
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,745.797507578,719.202492422,683,669,640.797507578,884.797507578,788,817.202492422,654.202492422,630,655.202492422,0.400990076275,0.00458956879384,0.0498413002578,0.999999955641,0.000114585115228,-0.00027320614462,-3.07739028995e-05,1793250293986966016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,745.625604436,719,683,669,640.625604436,885,788,817,654,630.374395564,655.374395564,0.400987577771,0.00458973531268,0.0498425105612,0.999999956228,0.000114028662307,-0.000271268581622,-3.09018839506e-05,1793250294003632640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,745.049786846,719,683,669,640.049786846,885,788,817,654,630.950213154,655.950213154,0.400986451454,0.00459012659631,0.0498441689042,0.999999956542,0.000116282464896,-0.000269163143695,-3.07348316082e-05,1793250294020299008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,745,719.523048731,683,669,640.523048731,884.476951269,787.476951269,817,654,631,656,0.400983351987,0.00458959995889,0.0498431450527,0.999999956245,0.000116150234961,-0.000270318778381,-3.07551726906e-05,1793250294036965632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,745.099365147,719.900634853,683,669,641,884.099365147,787.099365147,817,654,631,656,0.400980860144,0.00458895101307,0.0498423664432,0.999999956115,0.000115727079923,-0.000270985968296,-3.0727565956e-05,1793250294053632512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,745.694455056,719.305544944,683,669,641,884.694455056,787.694455056,817,654,631,656,0.400982331372,0.00458812530698,0.0498440778124,0.999999957103,0.000114979166113,-0.000267676524005,-3.03722674677e-05,1793250294070299392
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,745.71974939,719,683,669,641,885,787.71974939,817,654,631,655.71974939,0.400982663942,0.00458814094499,0.0498454062228,0.999999957447,0.00011540477432,-0.000266209720617,-3.03405920923e-05,1793250294086966016
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,745.143761717,719,683,669,641,885,787.143761717,817,654,631,655.143761717,0.400981794933,0.00458904441908,0.0498463305127,0.999999957117,0.000117068752462,-0.000266687380776,-3.06504229738e-05,1793250294103632896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770.43199664,745,719.43199664,683,669,641,885,787.43199664,817,654,631,655.43199664,0.400982333448,0.00458843440542,0.0498468350567,0.999999957555,0.00011580239813,-0.000265593336798,-3.0666446048e-05,1793250294120299520
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd2b721578c81e5acf5cddd40cb1b1a015b4b31
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+268,4.466666667,pose2_to_pose3_retreat,0.620549191325,0.0101502058686,1.04003342851,0.591119867101,0.0188228328129,1.03970482481
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+271,4.516666667,pose2_to_pose3_retreat,0.620547368068,0.0101502407345,1.04003353139,0.591118045099,0.0188228718908,1.03970492661
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+335,5.583333333,pose2_to_pose3_retreat,0.593091503853,0.010150196377,1.04003356128,0.563662181699,0.0188228282508,1.03970496079
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+337,5.616666667,pose2_to_pose3_retreat,0.591585324353,0.0101502412614,1.04003366758,0.562156002412,0.0188228734085,1.03970505519
+338,5.633333333,pose2_to_pose3_retreat,0.590848321962,0.0101500919897,1.04003354112,0.56141900237,0.0188227323609,1.03970493526
+339,5.650000000,pose2_to_pose3_retreat,0.59012806749,0.0101501533124,1.04003333994,0.560698745756,0.0188227864521,1.0397047351
+340,5.666666667,pose2_to_pose3_retreat,0.58942397051,0.0101500911633,1.04003333956,0.559994650098,0.0188227288927,1.03970473744
+341,5.683333333,pose2_to_pose3_retreat,0.588738531703,0.0101500349619,1.04003343254,0.559309212305,0.0188226762104,1.03970483243
+342,5.700000000,pose2_to_pose3_retreat,0.58807311102,0.0101500743961,1.04003350234,0.558643790447,0.0188227115825,1.03970490021
+343,5.716666667,pose2_to_pose3_retreat,0.587416329985,0.0101501269318,1.0400335261,0.55798700836,0.0188227603266,1.03970491803
+344,5.733333333,pose2_to_pose3_retreat,0.586765907856,0.0101499950093,1.04003354215,0.557336589238,0.0188226384785,1.0397049307
+345,5.750000000,pose2_to_pose3_retreat,0.586130729563,0.0101500483588,1.04003337603,0.556701409774,0.0188226884351,1.03970477988
+346,5.766666667,pose2_to_pose3_retreat,0.585511676791,0.0101501126296,1.04003348225,0.55608235512,0.0188227460571,1.03970487979
+347,5.783333333,pose2_to_pose3_retreat,0.584910110378,0.0101501334407,1.0400334459,0.555480788004,0.0188227642935,1.03970483861
+348,5.800000000,pose2_to_pose3_retreat,0.584328607047,0.0101501584183,1.04003334304,0.554899285361,0.0188227916268,1.0397047363
+349,5.816666667,pose2_to_pose3_retreat,0.583769318492,0.0101500825921,1.04003327909,0.554339998431,0.0188227214071,1.03970467473
+350,5.833333333,pose2_to_pose3_retreat,0.583228303268,0.0101499701028,1.04003333916,0.55379898362,0.0188226103265,1.03970473504
+351,5.850000000,pose2_to_pose3_retreat,0.582707792454,0.0101500573583,1.04003350822,0.553278470156,0.018822688525,1.03970490248
+352,5.866666667,pose2_to_pose3_retreat,0.582209521174,0.0101500705869,1.04003338121,0.552780199933,0.018822705483,1.03970477976
+353,5.883333333,pose2_to_pose3_retreat,0.581731804561,0.0101501080855,1.04003359523,0.552302483193,0.0188227423636,1.03970498889
+354,5.900000000,pose2_to_pose3_retreat,0.581273730006,0.0101501162495,1.04003347785,0.551844409403,0.0188227531752,1.03970487205
+355,5.916666667,pose2_to_pose3_retreat,0.580827645013,0.0101501759734,1.04003345062,0.551398323091,0.0188228086015,1.039704849
+356,5.933333333,pose2_to_pose3_retreat,0.580392591958,0.0101501363555,1.04003337128,0.550963269651,0.0188227679138,1.03970477611
+357,5.950000000,pose2_to_pose3_retreat,0.579977996236,0.0101500407304,1.04003326663,0.55054867504,0.0188226761263,1.0397046735
+358,5.966666667,pose2_to_pose3_retreat,0.579586225575,0.0101500257292,1.04003346125,0.550156904829,0.0188226623142,1.03970485925
+359,5.983333333,pose2_to_pose3_retreat,0.579223322337,0.0101498764051,1.04003377482,0.549794004112,0.0188225210859,1.03970516086
+360,6.000000000,pose2_to_pose3_retreat,0.578889169958,0.0101501752443,1.04003354463,0.549459848516,0.0188228092794,1.03970493712
+361,6.016666667,pose2_to_pose3_retreat,0.578585609393,0.0101502228146,1.04003351847,0.549156286985,0.0188228536332,1.03970491302
+362,6.033333333,pose2_to_pose3_retreat,0.578300221798,0.0101501316049,1.04003352775,0.548870900629,0.0188227665725,1.03970492079
+363,6.050000000,pose2_to_pose3_retreat,0.578029770271,0.0101501202693,1.04003358287,0.54860044968,0.0188227571894,1.03970497558
+364,6.066666667,pose2_to_pose3_retreat,0.577771486372,0.0101501735503,1.04003356809,0.548342164803,0.0188228072701,1.03970496409
+365,6.083333333,pose2_to_pose3_retreat,0.577523796784,0.0101501346489,1.04003341902,0.548094474298,0.018822765386,1.03970481829
+366,6.100000000,pose2_to_pose3_retreat,0.577287442194,0.0101502123284,1.04003366905,0.547858120494,0.0188228453896,1.03970505932
+367,6.116666667,pose2_to_pose3_retreat,0.577068653717,0.0101501946506,1.0400338095,0.547639331012,0.0188228239951,1.03970519149
+368,6.133333333,pose2_to_pose3_retreat,0.576871035404,0.0101501618088,1.04003340373,0.547441714001,0.0188227962501,1.03970480368
+369,6.150000000,pose2_to_pose3_retreat,0.57669568021,0.0101501558889,1.0400333792,0.547266358157,0.0188227881364,1.03970477971
+370,6.166666667,pose2_to_pose3_retreat,0.576541682486,0.0101500400801,1.04003358784,0.547112361987,0.0188226773262,1.03970498107
+371,6.183333333,pose2_to_pose3_retreat,0.576410111025,0.010149994803,1.0400335798,0.546980790471,0.0188226318307,1.03970497222
+372,6.200000000,pose2_to_pose3_retreat,0.576295582451,0.0101500269763,1.04003348163,0.546866261491,0.018822662626,1.03970487401
+373,6.216666667,pose2_to_pose3_retreat,0.576195083334,0.0101501093811,1.04003341446,0.546765762043,0.018822743889,1.03970480636
+374,6.233333333,pose2_to_pose3_retreat,0.57610548393,0.0101502169328,1.04003339705,0.546676161422,0.01882284745,1.03970479272
+375,6.250000000,pose2_to_pose3_retreat,0.576026064238,0.010150165096,1.04003349103,0.546596741743,0.0188227956764,1.03970488763
+376,6.266666667,pose2_to_pose3_retreat,0.575954924199,0.0101500965729,1.04003348335,0.546525604144,0.0188227356182,1.03970488487
+377,6.283333333,pose2_to_pose3_retreat,0.575892529786,0.0101500830801,1.04003348588,0.546463209569,0.018822721588,1.03970488766
+378,6.300000000,pose2_to_pose3_retreat,0.57584099,0.0101500359308,1.04003344275,0.546411669589,0.0188226736347,1.03970484066
+379,6.316666667,pose2_to_pose3_retreat,0.575799010784,0.0101500583726,1.04003354336,0.546369690241,0.0188226953803,1.03970493481
+380,6.333333333,pose2_to_pose3_retreat,0.575766504708,0.010150179471,1.04003374432,0.546337183145,0.0188228128274,1.0397051307
+381,6.350000000,pose2_to_pose3_retreat,0.575740668156,0.0101501446201,1.04003344391,0.546311346033,0.0188227762774,1.03970483568
+382,6.366666667,pose2_to_pose3_retreat,0.575720710096,0.0101501013988,1.04003351721,0.546291388944,0.0188227361893,1.03970490477
+383,6.383333333,pose2_to_pose3_retreat,0.575704866719,0.0101500513681,1.04003342406,0.546275546089,0.01882268806,1.03970481518
+384,6.400000000,pose2_to_pose3_retreat,0.575692364979,0.010150030044,1.04003331532,0.546263044635,0.0188226679261,1.03970471224
+385,6.416666667,pose2_to_pose3_retreat,0.575682827105,0.0101500982863,1.04003351389,0.546253507439,0.0188227383464,1.03970490773
+386,6.433333333,pose2_to_pose3_retreat,0.575676217086,0.0101499757092,1.04003359401,0.546246898473,0.0188226194183,1.03970498956
+387,6.450000000,pose2_to_pose3_retreat,0.575672297744,0.010149968663,1.04003358875,0.546242978606,0.0188226106312,1.03970498521
+388,6.466666667,pose2_to_pose3_retreat,0.575669504611,0.0101500606102,1.04003352518,0.546240183626,0.018822696314,1.03970492182
+389,6.483333333,pose2_to_pose3_retreat,0.575667686649,0.0101501059161,1.04003351579,0.546238364846,0.0188227387876,1.03970491099
+390,6.500000000,pose2_to_pose3_retreat,0.575666764581,0.0101501226345,1.0400335248,0.546237442528,0.0188227546058,1.03970491861
+391,6.516666667,pose2_to_pose3_retreat,0.575666179566,0.0101501332417,1.04003353052,0.546236857354,0.0188227646417,1.03970492345
+392,6.533333333,pose2_to_pose3_retreat,0.575665645564,0.0101500955381,1.04003345135,0.546236323412,0.0188227270727,1.03970484252
+393,6.550000000,pose2_to_pose3_retreat,0.575665529415,0.0101500857552,1.04003343132,0.546236207283,0.018822717341,1.03970482207
+394,6.566666667,pose2_to_pose3_retreat,0.575665250473,0.0101500622607,1.0400333832,0.546235928388,0.0188226939693,1.03970477296
+395,6.583333333,pose2_to_pose3_retreat,0.575665186996,0.0101500569143,1.04003337225,0.546235864922,0.0188226886508,1.03970476178
+396,6.600000000,pose2_to_pose3_retreat,0.575664997002,0.0101500409116,1.04003333947,0.54623567496,0.0188226727319,1.03970472833
+397,6.616666667,pose2_to_pose3_retreat,0.575664988816,0.0101500402221,1.04003333806,0.546235666775,0.018822672046,1.03970472688
+398,6.633333333,pose2_to_pose3_retreat,0.575664933065,0.0101500355264,1.04003332844,0.546235611034,0.0188226673748,1.03970471707
+399,6.650000000,pose2_to_pose3_retreat,0.575664872312,0.0101500304093,1.04003331796,0.546235550291,0.0188226622845,1.03970470637
+400,6.666666667,pose2_to_pose3_retreat,0.575664703319,0.0101500447997,1.04003334228,0.54623538161,0.0188226778018,1.03970473251
+401,6.683333333,pose2_to_pose3_retreat,0.575664529769,0.0101500831602,1.0400334113,0.546235208613,0.0188227181866,1.03970480539
+402,6.700000000,pose2_to_pose3_retreat,0.575664441471,0.010150102677,1.04003344642,0.546235120597,0.0188227387334,1.03970484247
+403,6.716666667,pose2_to_pose3_retreat,0.575664408121,0.0101501100485,1.04003345968,0.546235087353,0.0188227464938,1.03970485648
+404,6.733333333,pose2_to_pose3_retreat,0.575664383492,0.0101501154922,1.04003346948,0.546235062803,0.0188227522249,1.03970486682
+405,6.750000000,pose2_to_pose3_retreat,0.575664317051,0.0101501300943,1.04003349619,0.546234996571,0.0188227675957,1.03970489499
+406,6.766666667,pose2_to_pose3_retreat,0.575664318705,0.0101501007789,1.04003359465,0.546234997681,0.0188227361155,1.03970498513
+407,6.783333333,pose2_to_pose3_retreat,0.575664318718,0.0101501005453,1.04003359544,0.54623499769,0.0188227358645,1.03970498585
+408,6.800000000,pose2_to_pose3_retreat,0.575664319265,0.0101500908655,1.04003362795,0.546234998056,0.01882272547,1.03970501561
+409,6.816666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d220810569b49c469de4bfa7eae5b68c88dbdca3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9730dfb3db0d011b5234666d65c09810ddfc19a1f98178169f6f4e50202788
+size 26037455
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..506f8965ffb6f493956a2dcf0d0ae5bc16bcfe97
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+17,0.283333333,BASELINE,770,745.150877356,719.849122644,682.849122644,669,640.849122644,884.849122644,787.849122644,817,654.849122644,630.849122644,656,0.400986990048,0.00458805887854,0.0498528460291,0.999999961195,0.000113801968876,-0.000252402089921,-3.08665378479e-05,1793250294764435456
+18,0.300000000,BASELINE,770,745,720,683,669.437390503,641,884.562609497,788,817,654.562609497,630.562609497,656,0.400985877318,0.00458741847317,0.0498519560049,0.999999960838,0.000113432397575,-0.000254011017069,-3.06016314659e-05,1793250294781102080
+19,0.316666667,BASELINE,769.97150822,745,720,682.97150822,669.97150822,641,884.02849178,788,817,654,630.02849178,656,0.400983393007,0.00458702859451,0.0498500205774,0.999999959845,0.000113879433997,-0.000257728592444,-3.02904425417e-05,1793250294797768704
+20,0.333333333,BASELINE,769.398723021,745,720,682.398723021,669.398723021,641,884.601276979,788,817,654,630.601276979,656,0.400983776647,0.00458768490425,0.0498502264955,0.999999959938,0.00011394907481,-0.000257299880211,-3.05937487193e-05,1793250294814435584
+21,0.350000000,BASELINE,769.176367969,745.176367969,720,682.176367969,669,641,884.823632031,788,817,654.176367969,630.823632031,656,0.40098390548,0.00458774579244,0.0498502922654,0.999999960051,0.000113070017325,-0.000257224935173,-3.07897918364e-05,1793250294831102208
+22,0.366666667,BASELINE,769.756740739,745.756740739,720,682.756740739,669,641,884.243259261,788,817,654.756740739,630.243259261,656,0.400983450625,0.00458644275277,0.0498500369989,0.999999960204,0.000110017783654,-0.000257960362092,-3.07401282122e-05,1793250294847768832
+23,0.383333333,BASELINE,770,745.666911756,720,683,669,641,884.333088244,788,817,654.666911756,630.333088244,656,0.400982880344,0.00458650001074,0.0498498046716,0.999999960104,0.000109666890541,-0.000258486657828,-3.08227262127e-05,1793250294864435456
+24,0.400000000,BASELINE,770,745.093468803,720,683,669,641,884.906531197,788,817,654.093468803,630.906531197,656,0.400982226774,0.00458753885212,0.0498495888973,0.999999959825,0.000111265270132,-0.000258862045689,-3.1000763495e-05,1793250294881102080
+25,0.416666667,BASELINE,770,745,720,682.503839675,669,641,884.503839675,787.503839675,817,654,630.503839675,656,0.400982890236,0.00458791329319,0.0498501153953,0.999999959975,0.000112385331713,-0.000257801760538,-3.09599973524e-05,1793250294897768960
+26,0.433333333,BASELINE,770,745.086530904,720,682.086530904,669,641,884.086530904,787.086530904,817,654,630,656,0.400984004471,0.00458811624012,0.0498509413565,0.999999960294,0.000113086977274,-0.000256261371308,-3.08828938267e-05,1793250294914435840
+27,0.450000000,BASELINE,770,745.663246054,720,682.663246054,669,641,884.663246054,787.663246054,817,654,630,656,0.400986219377,0.00458808063648,0.0498526448883,0.999999961106,0.000111946020332,-0.000253585037187,-3.08413189031e-05,1793250294931103232
+28,0.466666667,BASELINE,770,745.760187293,720,683,669,640.760187293,884.760187293,788,817,654.239812707,630.239812707,656,0.400987434153,0.00458795469659,0.0498535414825,0.999999961496,0.000111642756717,-0.000252174301679,-3.08390552866e-05,1793250294947770624
+29,0.483333333,BASELINE,770,745.183829071,720,683,669,640.183829071,884.183829071,788,817,654.816170929,630.816170929,656,0.400987245379,0.00458770198167,0.0498533056462,0.999999961305,0.00011251508531,-0.000252539667127,-3.089195991e-05,1793250294964436992
+30,0.500000000,BASELINE,770,745,720,683,669,640.402155984,884,788,817.402155984,655,631,656,0.400986027296,0.00458607759749,0.0498523040737,0.999999961267,0.000109665984437,-0.00025395055429,-3.08049554143e-05,1793250294981103616
+31,0.516666667,BASELINE,770,745,720,683,669,640.992649455,884,788,817.992649455,655,631,656,0.400984327168,0.00458381083386,0.0498509438922,0.99999996128,0.000105074065568,-0.00025585107964,-3.06524287485e-05,1793250294997770240
+32,0.533333333,BASELINE,770,745,719.428499985,683,669,641,884.571500015,788,817.428499985,655,631,656,0.400983391771,0.00458507065144,0.049850548063,0.999999960725,0.000108356378024,-0.000256648387137,-3.06803131781e-05,1793250295014436352
+33,0.550000000,BASELINE,770,745,719.149290751,683,669,641,885,787.850709249,817,654.850709249,630.850709249,656,0.400982627876,0.00458600928845,0.0498501577486,0.999999960275,0.000110512288655,-0.00025747797912,-3.06819752667e-05,1793250295031102976
+34,0.566666667,BASELINE,770,745,719.724476606,683,669,641,885,787.275523394,817,654.275523394,630.275523394,656,0.400982325737,0.00458590485034,0.0498497484891,0.999999960177,0.000109171657433,-0.00025843934304,-3.06023430259e-05,1793250295047769600
+35,0.583333333,BASELINE,770,745,720,683,669,641,884.694562562,787.305437438,817,654,630,656,0.400982299728,0.00458647295687,0.0498498334206,0.999999960164,0.000109253253672,-0.000258442764855,-3.06937791558e-05,1793250295064436224
+36,0.600000000,BASELINE,770,745,720,683,669,641,884.108291884,787.891708116,817,654,630,656,0.400982527606,0.0045876594319,0.049850372734,0.99999996023,0.000110642511152,-0.000257565410711,-3.09425034112e-05,1793250295081102848
+37,0.616666667,BASELINE,770,745,720,683,669,641,884,788,817,654,630.471844609,656,0.400984541282,0.00458829593327,0.049851463721,0.999999960686,0.000111205282906,-0.000255535720323,-3.10289108562e-05,1793250295097769728
+38,0.633333333,BASELINE,770,745.050498318,720,683,669,641,884,788,817,654,631,656,0.400986637897,0.00458861632901,0.0498525267991,0.999999961166,0.000111417580384,-0.000253554818527,-3.10609140454e-05,1793250295114436864
+39,0.650000000,BASELINE,770,745.628181419,720,683,669,641,884,788,817,654,631,656,0.400985376551,0.00458693750653,0.0498519936826,0.999999961017,0.000109925877399,-0.000254808790399,-3.09088723208e-05,1793250295131103488
+40,0.666666667,BASELINE,770,745.795187156,720,683,669,641,884,788,817,654,631,656,0.400984414331,0.0045860188071,0.0498515017804,0.999999960876,0.000109057997145,-0.000255743779244,-3.08273482652e-05,1793250295147770112
+41,0.683333333,BASELINE,770,745.220455232,720,683,669,641,884,788,817,654,631,656,0.400983992372,0.00458647299052,0.0498510843167,0.999999960754,0.000109316823316,-0.000256102642493,-3.08731884539e-05,1793250295164436736
+42,0.700000000,BASELINE,770,745,720,683.362728292,669,641,884,788,817,654,630.637271708,656,0.400983896957,0.00458615368785,0.0498508901371,0.999999960899,0.000107316846966,-0.000256372927767,-3.09411352766e-05,1793250295181103360
+43,0.716666667,BASELINE,770,745,720,683.951170958,669,641,884,788,817,654,630.048829042,656,0.40098400474,0.00458535306918,0.0498508349001,0.999999961201,0.000103911289046,-0.000256588093746,-3.10228383585e-05,1793250295197769728
+44,0.733333333,BASELINE,770,745,720,683.469380418,669.530619582,641,884.530619582,788,817,654,630,656,0.400983142363,0.00458683320019,0.0498502017701,0.999999960532,0.000108259472703,-0.000257394232016,-3.10520630603e-05,1793250295214436096
+45,0.750000000,BASELINE,770,745,720,682.890914818,670,641,884.890914818,788,817,654.109085182,630.109085182,656,0.400982678383,0.00458793529282,0.0498497788174,0.999999960006,0.000111971931545,-0.000257852832742,-3.10199343214e-05,1793250295231102976
+46,0.766666667,BASELINE,770,745,720,682.313176147,670,641,884.313176147,788,817,654.686823853,630.686823853,656,0.400984303158,0.00458652658664,0.0498504834936,0.999999960565,0.000109938834614,-0.000256588590653,-3.07446194395e-05,1793250295247769856
+47,0.783333333,BASELINE,770,745,720,682,669.736940695,641,884,788,817,654.736940695,630.736940695,656,0.40098486952,0.00458622094526,0.0498508647455,0.999999960739,0.000109576823751,-0.000256061150416,-3.07697457761e-05,1793250295264436736
+48,0.800000000,BASELINE,770,745,720,682,669.162484603,641,884,788,817,654.162484603,630.162484603,656,0.400984182983,0.00458722105805,0.0498508631435,0.999999960461,0.000111192962873,-0.000256405900137,-3.11505197497e-05,1793250295281103360
+49,0.816666667,BASELINE,770,745.424235471,720,682.424235471,669,641,884.424235471,788,817,654,630,656,0.400983639758,0.004587312174,0.0498509303029,0.999999960391,0.000111047901261,-0.000256753322542,-3.10454430727e-05,1793250295297769984
+50,0.833333333,BASELINE,770,746,720,683,669,641,885,788,817,654.015429812,630,656,0.400983206146,0.00458701076785,0.0498510400964,0.999999960419,0.000110195431665,-0.000257049149657,-3.07496454078e-05,1793250295314436608
+51,0.850000000,BASELINE,770,746,720,683,669,641,885,788,817,654.593400749,630,656,0.40098470814,0.00458546953135,0.0498517155061,0.999999960987,0.000108877121573,-0.00025542548166,-3.04867360421e-05,1793250295331103232
+52,0.866666667,BASELINE,770,745.82946313,720,683,669,641,884.82946313,788,817,654.82946313,630.17053687,656,0.400985179513,0.00458461699755,0.0498518910117,0.999999961132,0.000108502691757,-0.00025503921529,-3.03151403201e-05,1793250295347769856
+53,0.883333333,BASELINE,770,745.254307739,720,683,669,641,884.254307739,788,817,654.254307739,630.745692261,656,0.400983205618,0.00458539849097,0.0498508804367,0.999999960273,0.000110367727548,-0.000257588828016,-3.03601968336e-05,1793250295364436224
+54,0.900000000,BASELINE,770,745,720,683,669,641,884,788,817,654.327531943,631,656,0.40098284603,0.00458604941993,0.0498508381682,0.999999960162,0.000111064041393,-0.000257690004539,-3.05903846092e-05,1793250295381103104
+55,0.916666667,BASELINE,770,745,720,683,669,641,884,788,817,654.914669647,631,656,0.400983765964,0.00458659686188,0.049851563391,0.999999960649,0.000110834012069,-0.000255850520936,-3.09673096495e-05,1793250295397770496
+56,0.933333333,BASELINE,770,745,720,683,669.495021945,640.504978055,884.495021945,788,817,654.504978055,631,656,0.400983526256,0.00458646944498,0.0498514876901,0.99999996096,0.000108881915932,-0.000255476895003,-3.09284504167e-05,1793250295414437120
+57,0.950000000,BASELINE,770,745,720,683,669.925976974,640.074023026,884.925976974,788,817,654,630.925976974,656,0.400983179221,0.00458609851606,0.0498512241842,0.999999961145,0.000107115979636,-0.000255512854753,-3.08011802622e-05,1793250295431103744
+58,0.966666667,BASELINE,770,745,720,683,669.348319141,640.651680859,884.348319141,788,817,654,630.348319141,656,0.40098344361,0.00458485156964,0.0498506095298,0.999999960703,0.000108608980103,-0.000256639609442,-3.0553426123e-05,1793250295447770112
+59,0.983333333,BASELINE,770,745.228948451,720,683,669,641,884,787.771051549,817,654.228948451,630.228948451,656,0.40098378706,0.00458472450353,0.0498507429383,0.999999960595,0.000109448970741,-0.000256704245617,-3.05546523878e-05,1793250295464436480
+60,1.000000000,BASELINE,770,745.805623432,720,683,669,641,884,787.194376568,817,654.805623432,630.805623432,656,0.400984250587,0.00458629830961,0.0498520125035,0.999999960996,0.000109297171359,-0.000255155738123,-3.0934029641e-05,1793250295481103104
+61,1.016666667,BASELINE,770,745.611652607,720,683.388347393,669,641,884,787.388347393,817,655,631,656,0.400984836209,0.00458661117864,0.0498524065583,0.999999961164,0.000109989165777,-0.00025419367106,-3.09714144097e-05,1793250295497769728
+62,1.033333333,BASELINE,770,745.025853125,720,683.974146875,669,641,884,787.974146875,817,655,631,656,0.400985483911,0.00458628293434,0.049852355467,0.999999961213,0.000111110180332,-0.000253529774979,-3.08349158455e-05,1793250295514436096
+63,1.050000000,BASELINE,770,745.556496876,720,683.443503124,669,641,884,788,817,654.443503124,631,656,0.400985424431,0.0045852782918,0.0498520396043,0.999999961264,0.000108765658495,-0.000254372623949,-3.0596866972e-05,1793250295531103232
+64,1.066666667,BASELINE,770,746,720,683,669,641,884.136426536,788,817,654,631,656,0.400985233456,0.00458486375659,0.0498517445788,0.999999961215,0.000107385817536,-0.000255154248206,-3.05566301551e-05,1793250295547770368
+65,1.083333333,BASELINE,770,746,720,683,669,641,884.709125567,788,817,654,631,656,0.400984726391,0.00458643616841,0.0498515552808,0.999999960863,0.00010960256499,-0.00025551761769,-3.11639615692e-05,1793250295564436992
+66,1.100000000,BASELINE,770,745.711546307,719.711546307,683,669,641,885,788,817,654,631,656,0.400983956681,0.00458689693887,0.0498512172316,0.999999960716,0.000110541723887,-0.000255670828148,-3.13043486058e-05,1793250295581103616
+67,1.116666667,BASELINE,770,745.125376251,719.125376251,683,669,641,885,788,817,654,631,656,0.400982915894,0.00458621037144,0.0498507256548,0.999999960785,0.000110162268848,-0.000255607131044,-3.09627969592e-05,1793250295597769984
+68,1.133333333,BASELINE,770,745.457132184,719.457132184,683,669,641,884.542867816,788,817,654,630.542867816,656,0.400983902211,0.00458552465698,0.0498511537484,0.999999961072,0.00010936542129,-0.000254843854805,-3.0830833099e-05,1793250295614436608
+69,1.150000000,BASELINE,770,746,719.961660716,683,669,640.961660716,884.038339284,788,817,654,630.038339284,656,0.400985209011,0.00458497803972,0.0498517410209,0.999999961343,0.000108692444907,-0.000254073165102,-3.07590110938e-05,1793250295631102976
+70,1.166666667,BASELINE,770,746,719.384739547,683,669,640.384739547,884.615260453,788,817,654,630.615260453,656,0.400983269848,0.00458638216987,0.0498510492168,0.999999960593,0.00011135495336,-0.00025587228346,-3.07309568701e-05,1793250295647769600
+71,1.183333333,BASELINE,770,745.808862014,719.191137986,683,669,640.191137986,884.808862014,787.808862014,817,654.191137986,631,656,0.400982599899,0.004586930442,0.0498508103536,0.999999960299,0.000112070492958,-0.000256706433273,-3.07092030933e-05,1793250295664436224
+72,1.200000000,BASELINE,770,745.235073692,719.764926308,683,669,640.764926308,884.235073692,787.235073692,817,654.764926308,631,656,0.400984470865,0.00458576532203,0.0498514782592,0.999999960933,0.000108888281995,-0.000255608756341,-3.07000625454e-05,1793250295681102592
+73,1.216666667,BASELINE,770.348243863,745,720,683,669.348243863,641,884.348243863,787.348243863,817,654.651756137,630.651756137,656,0.400984703613,0.00458562644727,0.0498517285077,0.999999961103,0.000108415344424,-0.000255148395908,-3.06617131925e-05,1793250295697769216
+74,1.233333333,BASELINE,770.938174831,745,720,683,669.938174831,641,884.938174831,787.938174831,817,654.061825169,630.061825169,656,0.40098379941,0.00458619980402,0.0498516888951,0.999999960955,0.000109822688405,-0.000255130343924,-3.06030924375e-05,1793250295714435840
+75,1.250000000,BASELINE,770.481747657,745,720,683,669.481747657,641,884.481747657,788,817,654,630,656,0.400983937647,0.0045859263,0.0498517228837,0.999999961103,0.000109150188315,-0.000254832003339,-3.06829829835e-05,1793250295731102464
+76,1.266666667,BASELINE,770.096922214,745.096922214,720,683,669,641,884.096922214,787.903077786,817,654.096922214,630,656,0.40098408774,0.00458577859913,0.049851685663,0.999999961186,0.000108855632339,-0.000254618918735,-3.07897631127e-05,1793250295747768832
+77,1.283333333,BASELINE,770.674332376,745.674332376,720,683,669,641,884.674332376,787.325667624,817,654.674332376,630,656,0.40098369161,0.00458674605328,0.049851252709,0.999999960779,0.000111641794192,-0.000254991157759,-3.09494597151e-05,1793250295764435712
+78,1.300000000,BASELINE,770.498528974,746,720,683,669,641,885,787.250735513,817,654.749264487,630,656,0.400983910176,0.00458708518115,0.0498513172907,0.999999960721,0.000112825111541,-0.000254678478486,-3.1111039996e-05,1793250295781102336
+79,1.316666667,BASELINE,769.34832827,746,720,683,669,641,885,787.825835865,817,654.174164135,630,656,0.400984923946,0.00458661147251,0.0498520255111,0.99999996112,0.000111934903496,-0.000253479752329,-3.12750570921e-05,1793250295797768960
+80,1.333333333,BASELINE,769.401230386,745.598769614,720,682.598769614,669,641,884.598769614,788,817.401230386,654,630.401230386,656,0.400984862111,0.00458711346704,0.0498518975928,0.999999961099,0.000111423147998,-0.000253767510877,-3.1441213161e-05,1793250295814435584
+81,1.350000000,BASELINE,769.976752742,745.023247258,720,682.023247258,669,641,884.023247258,788,817.976752742,654,630.976752742,656,0.400984333041,0.00458803930087,0.0498514064611,0.999999960895,0.000111075789841,-0.000254700988978,-3.16082984004e-05,1793250295831102208
+82,1.366666667,BASELINE,770,745,720,682,669,641,884,788,817.430098195,654,630.430098195,656,0.400983776428,0.00458630673371,0.0498512429504,0.999999960921,0.000110053610247,-0.000255112672176,-3.10278903509e-05,1793250295847768832
+83,1.383333333,BASELINE,770,745.158286445,720,682.158286445,669,641,884.158286445,787.841713555,817,654,630.158286445,656,0.400983418188,0.00458494263698,0.0498510393345,0.999999960974,0.000108955725963,-0.000255421030868,-3.06616564015e-05,1793250295864435712
+84,1.400000000,BASELINE,770,745.732212149,720,682.732212149,669,641,884.732212149,787.267787851,817,654,630.732212149,656,0.400983583894,0.00458483993356,0.0498506941952,0.999999961074,0.000107733640504,-0.000255515748343,-3.0940437302e-05,1793250295881102336
+85,1.416666667,BASELINE,770,745.692296885,720,683,669,641,885.307703115,787,817,654,631,656,0.400983613167,0.00458536279795,0.0498510022465,0.999999961159,0.000107938449788,-0.000255079378633,-3.10847001352e-05,1793250295897769216
+86,1.433333333,BASELINE,770,745.115436774,720,683,669,641,885.884563226,787,817,654,631,656,0.400983523098,0.00458643286497,0.049851881663,0.999999961229,0.000109391406097,-0.000254178451278,-3.11112960277e-05,1793250295914435840
+87,1.450000000,BASELINE,770,745.473004669,720,683,669,641,885.526995331,787.473004669,817,654,630.526995331,656,0.400985460496,0.00458554892197,0.0498526218772,0.999999961672,0.000108767845859,-0.000252711957754,-3.10218439423e-05,1793250295931102464
+88,1.466666667,BASELINE,770,745.936979423,720,683,669,641,885.063020577,788,817,654.063020577,630.063020577,656,0.400987398301,0.00458431712634,0.0498531157668,0.999999962103,0.000107687892257,-0.00025147916336,-3.08971234836e-05,1793250295947768832
+89,1.483333333,BASELINE,770,745.357798482,720,683,669,641,885.642201518,788,817,654.642201518,630.642201518,656,0.400985185114,0.00458424010924,0.0498518774021,0.999999961705,0.000107124749622,-0.00025331930403,-3.07213278325e-05,1793250295964435456
+90,1.500000000,BASELINE,770,745,720,682.780359811,669,641,885.560719621,787.780359811,817,655,630.780359811,656,0.400984041538,0.00458441503748,0.0498514999574,0.999999961554,0.000106690129926,-0.000254103702293,-3.06542168281e-05,1793250295981102080
+91,1.516666667,BASELINE,770,745,720,682.205737054,669,641,884.411474108,787.205737054,817,655,630.205737054,656,0.400984626669,0.00458499715992,0.0498525139321,0.999999961809,0.00010646322911,-0.000253181809053,-3.07627620129e-05,1793250295997768704
+92,1.533333333,BASELINE,770,745.376587495,719.623412505,682.376587495,669,641,884.376587495,787.376587495,817,654.623412505,630.376587495,656,0.400984585028,0.00458581511863,0.0498525403191,0.999999961691,0.000107255694802,-0.000253283022308,-3.10096305727e-05,1793250296014435328
+93,1.550000000,BASELINE,770,745.963207587,719.036792413,682.963207587,669,641,884.963207587,787.963207587,817,654.036792413,630.963207587,656,0.400984193819,0.00458676460939,0.049852015903,0.999999961364,0.00010861668757,-0.00025395484846,-3.13336456704e-05,1793250296031102208
+94,1.566666667,BASELINE,770,746,719.542784275,683,669,641,885,788,817.542784275,654,631,656,0.400984880673,0.00458651785811,0.0498524772362,0.999999961451,0.000109524162384,-0.000253251121784,-3.10965942081e-05,1793250296047768832
+95,1.583333333,BASELINE,770.12103848,746,720,683,669,641,885,788,817.87896152,654.12103848,630.87896152,656,0.400985314934,0.00458624970501,0.0498528336948,0.999999961493,0.000110140404407,-0.00025284043869,-3.08978353024e-05,1793250296064435456
+96,1.600000000,BASELINE,770.696100078,746,720,683,669,641,885,788,817.303899922,654.696100078,630.303899922,656,0.400984531098,0.00458620153759,0.0498525493323,0.999999961268,0.000109778050033,-0.00025387425435,-3.09835459045e-05,1793250296081102336
+97,1.616666667,BASELINE,770.729974646,745.729974646,720,683,669.270025354,641,885,788,817,654.729974646,630.270025354,656,0.40098463863,0.00458529423225,0.0498527180913,0.999999961513,0.000108037840079,-0.000253671233508,-3.08621199763e-05,1793250296097769216
+98,1.633333333,BASELINE,770.15732292,745.15732292,720,683,669.84267708,641,885,788,817,654.15732292,630.84267708,656,0.400985745146,0.00458342406255,0.0498533946787,0.999999962275,0.000104753421689,-0.000252082048903,-3.05085492614e-05,1793250296114436608
+99,1.650000000,BASELINE,770,745,720,683,669.570652744,641,885,788,817.429347256,654,631,656,0.400984622818,0.00458447290523,0.0498526385002,0.999999961929,0.000105047657808,-0.000253292968114,-3.08250759848e-05,1793250296131104000
+100,1.666666667,BASELINE,770,745.020915706,720,683,669.020915706,641,884.979084294,788,817.979084294,654,631,656,0.400982731983,0.00458657089729,0.0498513868696,0.999999961183,0.000106679769695,-0.000255479596862,-3.1370147609e-05,1793250296147771392
+101,1.683333333,BASELINE,770,745.601466304,720,683,669.601466304,641,884.398533696,788,817.398533696,654,631,656,0.400982868203,0.00458715588075,0.0498513999484,0.999999961085,0.000107838630005,-0.00025539337249,-3.12387531306e-05,1793250296164438016
+102,1.700000000,BASELINE,770,746,719.81944404,682.81944404,669.81944404,641,884,788,817,654.18055596,630.81944404,656,0.400983101904,0.00458702366869,0.0498512450461,0.999999961041,0.000108250722861,-0.000255413329923,-3.10467734115e-05,1793250296181104384
+103,1.716666667,BASELINE,770,746,719.243553251,682.243553251,669.243553251,641,884,788,817,654.756446749,630.243553251,656,0.400983549045,0.00458532112695,0.0498507223421,0.999999961118,0.000107027736979,-0.000255665776868,-3.07221397908e-05,1793250296197770240
+104,1.733333333,BASELINE,770,745.66080464,719.33919536,682,669,641,884,788,817,654.66080464,630.33919536,656,0.400983457091,0.00458482418944,0.0498503967715,0.999999960999,0.000107524790241,-0.000255924817061,-3.07187059117e-05,1793250296214436352
+105,1.750000000,BASELINE,770,745.073030218,719.926969782,682,669,641,884,788,817,654.073030218,630.926969782,656,0.400982970063,0.00458521077791,0.0498502156699,0.999999960733,0.000109282372753,-0.000256188689136,-3.09506629847e-05,1793250296231102976
+106,1.766666667,BASELINE,770,745,720,682.507076719,669,641,884,787.492923281,817,654,631,656,0.400984902381,0.0045853290584,0.0498516062404,0.999999961498,0.000108070394373,-0.000253713389733,-3.08851922987e-05,1793250296247769600
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745,719,683,669,641,885,788,817,654,631,655,0.400985532705,0.00458592746714,0.0498538686728,0.999999961932,0.000109050668454,-0.00025157568939,-3.0866965356e-05,1793250296290990080
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745.574919884,719.574919884,683,669.574919884,641,884.425080116,787.425080116,817,654,631,655.574919884,0.400984719142,0.00458698486309,0.0498526611071,0.999999961549,0.00010942609902,-0.000252930609478,-3.08954499159e-05,1793250296307656960
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.845807108,720,683,669.845807108,641,884.154192892,787.154192892,817,654.154192892,630.845807108,656,0.40098412238,0.00458747778518,0.0498517701166,0.999999961296,0.000109400636482,-0.000253935081503,-3.09337224319e-05,1793250296324323584
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745.254184596,720,683,669.254184596,641,884.745815404,787.745815404,817,654.745815404,630.254184596,656,0.400984140663,0.00458636935236,0.0498517772173,0.999999961418,0.00010823788089,-0.000253945368174,-3.09997623945e-05,1793250296340989184
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745,720,682.67099049,669,641,884.67099049,788,817,654.67099049,630.32900951,656,0.400983996905,0.00458555622093,0.049851956426,0.999999961412,0.000107576415128,-0.000254279531298,-3.07524908404e-05,1793250296357655552
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745,720,682.094145353,669,641,884.094145353,788,817,654.094145353,630.905854647,656,0.400983731084,0.00458496553359,0.0498522652798,0.99999996131,0.00010729256004,-0.000254857663431,-3.02692086071e-05,1793250296374322176
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,745,720,682.481536444,669,641,884,788,817,654,631,656,0.400983263531,0.00458621722295,0.0498519569914,0.999999961067,0.000108761502555,-0.000255148090115,-3.0588786942e-05,1793250296390988544
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,745,719.942663539,683,669,641,884,788,817,654,631,656,0.40098287474,0.0045876379214,0.0498515867535,0.999999960846,0.000110248899019,-0.000255322289132,-3.10344575593e-05,1793250296407655424
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,745,719.36372388,683,669,641,884,788,817,654,631,656,0.400983560399,0.00458732717558,0.0498517479516,0.999999961095,0.000108794157387,-0.000254949618485,-3.12026902611e-05,1793250296424322304
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,745,719.218724792,683,669,641.218724792,884.218724792,788,817,654,631,656,0.400988582499,0.00458651465568,0.049853706939,0.999999962293,0.000106517311432,-0.000251198743656,-3.10995064277e-05,1793250296440988928
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,745,719.807103787,683,669,641.807103787,884.807103787,788,817,654,631,656,0.401000933368,0.00458485411628,0.0498587042665,0.999999965026,0.000102851074337,-0.000241738560055,-3.05376170836e-05,1793250296457655296
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641.610447074,885,788,817,654.389552926,631,656,0.401029889077,0.00458347872263,0.0498698890165,0.999999970081,0.000102644506987,-0.000219976863494,-3.02201702811e-05,1793250296474321920
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641.030890163,885,788,817,654.969109837,631,656,0.401066943779,0.00458224240836,0.0498840916751,0.999999975655,0.000104125389134,-0.00019221511734,-3.00219499749e-05,1793250296490988544
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745,719.45509581,682.45509581,669,641,885,787.45509581,817,654.45509581,631,656,0.40112966985,0.00458305129526,0.0499032849122,0.999999982597,0.000104380317814,-0.000151683348616,-3.00645074122e-05,1793250296507655424
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,745.120361941,719,682,669,641,884.879638059,787,817,654,631,656,0.401195402256,0.00458348657015,0.0499213145906,0.99999998733,0.000104110617875,-0.00011669805286,-2.97160755768e-05,1793250296524321792
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,745.695348587,719,682,669,641,884.304651413,787,817,654,631,656,0.401267030903,0.00458207573591,0.0499338880721,0.999999988846,0.000102120024325,-0.000105378196013,-2.78396175175e-05,1793250296540988672
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,745.721107469,719.278892531,682.278892531,669,641,884.278892531,787.278892531,817,654,631,656,0.401345889168,0.00458135672903,0.0499436727564,0.999999990235,0.000100765403425,-9.30742276858e-05,-2.67062212186e-05,1793250296557655296
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,745.127920004,719.872079996,682.872079996,669,641,884.872079996,787.872079996,817,654,631,656,0.401432894771,0.00458141736962,0.0499503146352,0.999999991466,0.00010012748517,-7.96612262059e-05,-2.64102104774e-05,1793250296574322176
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,745,719.547328831,682.547328831,669.452671169,641,884.547328831,788,817,654,631,656,0.401534914859,0.00458026571999,0.0499511880678,0.999999991517,9.96332970131e-05,-7.99151133236e-05,-2.55535823991e-05,1793250296590988800
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,745.029497064,719.029497064,682,669.970502936,641,884.029497064,788,817,654,631,656,0.401642198491,0.00457881585404,0.0499504638337,0.999999991279,9.90675575965e-05,-8.38117308841e-05,-2.45483607162e-05,1793250296607655424
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,745.600774906,719.600774906,682,669.399225094,641,884.600774906,788,817,654,631,656,0.401770337848,0.00457801047905,0.0499495247377,0.999999991404,9.64617972223e-05,-8.5599320226e-05,-2.36449259168e-05,1793250296624321792
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,745.82149824,719.82149824,682.17850176,669,641,884.82149824,788,817,654,631,656,0.401909133317,0.00457732692583,0.0499501547726,0.999999991603,9.45954892768e-05,-8.56436100038e-05,-2.2612893308e-05,1793250296640988672
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,745.228807412,719.228807412,682.771192588,669,641,884.228807412,788,817,654,631,656,0.402072654829,0.00457692604356,0.0499544257629,0.999999991981,9.44449805333e-05,-8.16428098827e-05,-2.12824670906e-05,1793250296657655296
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,745,719.355616224,683,669,641,884.355616224,788,817,654,631,656,0.402250977316,0.00457518131286,0.0499537217881,0.99999999206,9.0452074429e-05,-8.54679375782e-05,-1.98256026336e-05,1793250296674321920
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,745,719.934841564,683,669,641,884.934841564,788,817,654,631,656,0.402438606574,0.00457259157916,0.0499498895887,0.999999991863,8.40430944101e-05,-9.42139562095e-05,-1.82892345212e-05,1793250296690988800
+132,2.200000000,POSE1_TO_POSE2_PRESS,770,745,719.490534073,683,669.509465927,641,885,788,817,654,630.490534073,656,0.402664695344,0.0045709616603,0.0499474910292,0.999999991554,8.29198155212e-05,-9.86939449912e-05,-1.66128487497e-05,1793250296707655424
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,745.085463664,719,683,670,641,885,788,817.085463664,654,630.085463664,656,0.402901844254,0.00456904339849,0.0499466150508,0.999999991536,8.17264535003e-05,-0.00010013723192,-1.48489754496e-05,1793250296724322304
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745.672954736,719,683,670,641,885,788,817.672954736,654,630.672954736,656,0.403175327092,0.00456471672761,0.0499536155358,0.99999999324,7.61859151381e-05,-8.6918736698e-05,-1.26754364155e-05,1793250296740988928
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,745.74329997,719.25670003,683,669.74329997,641.25670003,885,788,818,654,631,656,0.403471231724,0.00456138519294,0.0499622957982,0.999999994967,7.14965308114e-05,-6.95684940517e-05,-1.06889648032e-05,1793250296757655552
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,745.164258334,719.835741666,683,669.164258334,641.835741666,885,788,818,654,631,656,0.403795291683,0.00455930326416,0.0499730853785,0.999999996551,6.78759521264e-05,-4.70299625812e-05,-8.93739634264e-06,1793250296774322432
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669.414610006,641.585389994,885,788,817.585389994,654,631,656,0.404146542967,0.00455573422419,0.0499799360788,0.999999997435,6.32272340372e-05,-3.30356401591e-05,-6.35767009502e-06,1793250296790988800
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669.993409706,641.006590294,885,788,817.006590294,654,631,656,0.404508562278,0.00455157627343,0.0499852269432,0.999999998051,5.81713625869e-05,-2.24249101866e-05,-3.44998515429e-06,1793250296807655168
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,745,720,683.56741594,669.43258406,641,885,788,817,654,631,656,0.404923184251,0.00454695470977,0.0499930918642,0.999999998595,5.28610314574e-05,-4.03708192741e-06,-6.0676997494e-07,1793250296824321792
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745,720,684,669.144719451,641,885,788,817,654,631,656,0.405335243585,0.00454252717785,0.0499952500226,0.999999998853,4.77674827954e-05,2.79272253237e-06,2.13803857685e-06,1793250296840988416
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745,720,684,669.73228148,641,885,788,817,654,631,656,0.405737607278,0.00453870972439,0.049979854727,0.999999998712,4.33462589929e-05,-2.60192017034e-05,4.58399370431e-06,1793250296857655040
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.683382496,745,720,684,670,641,885,788,817,654,630.683382496,656,0.406162443537,0.00453492496012,0.0499591707323,0.999999997191,3.81287414812e-05,-6.4137688316e-05,7.15722592087e-06,1793250296874321920
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.10174667,745,720,684,670,641,885,788,817,654,630.10174667,656,0.406606090053,0.00453116755725,0.0499340599367,0.999999993377,3.22447017836e-05,-0.000110046049145,9.83699312973e-06,1793250296890989312
+144,2.400000000,POSE1_TO_POSE2_PRESS,769.475668997,745,720,684,670,641,885,788,817,654,630.475668997,656,0.40710383381,0.00452603421205,0.049923015627,0.999999991018,2.60301201198e-05,-0.000130808118302,1.32278957795e-05,1793250296907655680
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.947949401,745,720,684.052050599,670,641,885.052050599,788,817,654,631,656,0.407622812328,0.00452049155995,0.0499178633878,0.999999989861,1.94586284604e-05,-0.000140073088848,1.67277381499e-05,1793250296924322304
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.372966921,745,720,684.627033079,670,641,885.627033079,788,817,654,631,656,0.408239896287,0.00451376764472,0.0499419435278,0.999999995935,1.00054835787e-05,-8.73951950351e-05,1.98072723992e-05,1793250296940988928
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.207432983,745,720,685,670,641,886.207432983,788,817,654,631,656,0.408859818983,0.00450707634598,0.0499661862028,0.999999998958,8.06407790624e-07,-3.9247905562e-05,2.3321670057e-05,1793250296957655552
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.797834652,745,720,685,670,641,886.797834652,788,817,654,631,656,0.409484982599,0.00450044526516,0.0499907289531,0.999999999587,-7.92359778946e-06,5.34849531393e-07,2.76389248177e-05,1793250296974322176
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,745,720,684.619779327,670,641.380220673,886.619779327,788,817,654,631,656,0.410110137667,0.00449467553141,0.049996107013,0.999999998969,3.21747017382e-05,5.31478487094e-06,3.16003112724e-05,1793250296990988800
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,745,720,684.041567292,670,641.958432708,886.041567292,788,817,654,631,656,0.410735288263,0.00448935432497,0.0499915054909,0.999999994569,9.76992426881e-05,-8.13221187789e-06,3.53763870794e-05,1793250297007655424
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,745,720,684.533413727,670,642,886,788,817.533413727,654,631,656,0.411361337724,0.00448188353174,0.0499584241322,0.999999983761,0.000155533945823,-8.18728669108e-05,3.97905579593e-05,1793250297024322816
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,745,720,685.11063023,670,641.88936977,886.22126046,788,818,654,631,656,0.412012854465,0.00447445051092,0.0499322080188,0.999999970103,0.000197726375653,-0.000137061110834,4.37354544944e-05,1793250297040989952
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,745,720,685.698571275,670,641.301428725,887.39714255,788,818,654,631,656,0.41277394846,0.00446789882874,0.0499451294625,0.999999979418,0.00017500053513,-9.20560285209e-05,4.54424365601e-05,1793250297057655808
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,745,720,686,670.282053067,641.282053067,888,788,818,654,631,656,0.413550882434,0.00445936760169,0.0499634942261,0.999999993438,9.60257794284e-05,-5.22324825691e-05,3.42757598876e-05,1793250297074321920
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,745,720,686,670.860843521,641.860843521,888,788,818,654,631,656,0.414344481144,0.0044487537694,0.0499875857028,0.999999998907,-4.21263412663e-05,-1.78602291342e-05,9.56519245417e-06,1793250297090988544
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,745.438125698,719.561874302,686,670.561874302,641.561874302,888,788,818,654,630.561874302,656.438125698,0.415100672176,0.00444954902381,0.0499672991492,0.99999999613,-6.99175794983e-05,-5.26875577277e-05,8.67414774468e-06,1793250297107655424
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,745.985175278,719.014824722,686,670,641,887.985175278,788,818,654.014824722,630,656.985175278,0.415846886541,0.00445462967993,0.0499337803925,0.999999992134,-6.19250346278e-05,-0.000108017879695,1.51558232192e-05,1793250297124322048
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,745.41245429,719.58754571,686,670,641,887.41245429,788,818,654.58754571,630,656.41245429,0.416663246933,0.00448507885894,0.0499309205657,0.999999993522,-2.18892538722e-05,-0.000110639248429,1.53593581224e-05,1793250297140989184
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,745.165443837,720,686,670.165443837,641.165443837,887.165443837,788,818,654.834556163,630.165443837,656,0.41749866407,0.00450403540319,0.0499369317101,0.999999994955,1.45357559621e-05,-9.80074193432e-05,1.65504923565e-05,1793250297157656320
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,745.756665549,720,686,670.756665549,641.756665549,887.756665549,788,818,654.243334451,630.756665549,656,0.418383124631,0.00449341508316,0.0499657727365,0.999999997863,4.16682662262e-05,-4.61207331991e-05,2.02832621961e-05,1793250297174322688
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.659235225,746,720,686,670.659235225,641.659235225,888,788,818,654,631,656,0.419240333207,0.00448421848344,0.0499697769895,0.999999998042,3.68595324717e-05,-4.52909911579e-05,2.24820511244e-05,1793250297190989056
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.080117944,746,720,686,670.080117944,641.080117944,888,788,818,654,631,656,0.42007847998,0.00447601772449,0.0499564088257,0.99999999646,9.7090646816e-06,-8.01737178402e-05,2.36078763088e-05,1793250297207655168
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.496208892,746,720,686.496208892,670,641.496208892,888,788.496208892,818,654,631,656,0.420989610371,0.00447229277126,0.0499638893774,0.999999998512,-7.90846775431e-06,-4.89200917938e-05,2.27939134366e-05,1793250297224321792
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.927767676,746,720,687,670.072232324,641.927767676,888,788.927767676,818.072232324,654,631,656.072232324,0.421913970284,0.00446944992665,0.0499753089246,0.999999999516,-2.00557117885e-05,-9.11619399187e-06,2.19519669567e-05,1793250297240988416
+165,2.750000000,POSE1_TO_POSE2_PRESS,769.350733812,746,720,687,670.649266188,641.350733812,888,788.350733812,818.649266188,654,631,656.649266188,0.422848892825,0.00446774961694,0.0499908627985,0.999999999591,-4.66998275064e-06,1.6232521458e-05,2.30910282675e-05,1793250297257655040
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,720,687.231600545,671,641.231600545,888,787.768399455,819,654.231600545,631,657,0.423773679388,0.00447165519343,0.0499931909526,0.999999999492,8.95737687532e-06,1.93891617536e-05,2.36396396772e-05,1793250297274321920
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,720,687.822150027,671,641.822150027,888,787.177849973,819,654.822150027,631,657,0.424682756725,0.00448424912092,0.0499750210657,0.999999999462,1.98595085217e-05,-1.18488530116e-05,2.32731352723e-05,1793250297290988800
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720,688,670.596791462,642,888.403208538,787,819,655,631,656.596791462,0.425623248927,0.00448837833318,0.0499816689398,0.999999999493,2.01814221456e-05,-3.68615972275e-06,2.43609809018e-05,1793250297307655680
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720,688,670.019823054,642,888.980176946,787,819,655,631,656.019823054,0.426577279088,0.00448885973547,0.0499990118537,0.999999999303,1.59438649095e-05,2.1455992185e-05,2.60755684185e-05,1793250297324322560
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,720,688,670,641.444844105,889,787.555155895,819.555155895,654.444844105,630.444844105,656,0.427459955969,0.00447974669914,0.049986404492,0.99999999907,1.88747919261e-05,-2.5970284064e-05,2.87873940657e-05,1793250297340988672
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.13324071,746,720,688.13324071,669.86675929,641,888.86675929,788,819.86675929,654,630.13324071,656,0.428353010096,0.00447163482864,0.0499696724838,0.999999996874,1.79727872489e-05,-7.06624788526e-05,3.06008471816e-05,1793250297357655040
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.722190252,746,720,688.722190252,669.277809748,641,888.277809748,788,819.277809748,654,630.722190252,656,0.429290239284,0.00446811467913,0.0499424780222,0.999999994847,3.08909147929e-06,-9.71727825062e-05,2.92203404152e-05,1793250297374321664
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,720,689,669.611830872,641,888.305915436,788,819,654.305915436,631,656,0.430241484488,0.00446895664901,0.0499370850244,0.99999999509,2.39190551923e-06,-9.47767303046e-05,2.8825398709e-05,1793250297390988032
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,746,720,689,670.769951753,641,888.884975876,788,819,654.884975876,631,656,0.431205244228,0.00447369345728,0.0499511580643,0.999999997251,1.43615355493e-05,-6.65708423707e-05,2.93104459253e-05,1793250297407654656
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,746,720,689.459779391,670.540220609,641,889,788,819.459779391,654.540220609,631,656,0.432118780577,0.00448025848127,0.0499397144229,0.999999995618,1.77594885311e-05,-8.72583111488e-05,2.88854562407e-05,1793250297424321536
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,746,720,689.966357998,670,641,888.966357998,788,820,654,631,656.033642002,0.433022113102,0.00448642022574,0.0499244167961,0.999999992759,1.78987527379e-05,-0.000115582841117,2.8323286741e-05,1793250297440988160
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,746,720,689.390654537,670,641,888.390654537,788,820,654,631,656.609345463,0.433961624208,0.00447878224471,0.0499489339027,0.999999997005,-2.33131277823e-07,-7.16824619909e-05,2.91854399406e-05,1793250297457655040
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,746,720.190006286,689.190006286,670,641.190006286,888.190006286,788,820,654,631,656.809993714,0.434888451154,0.00447226241862,0.0499667596476,0.999999998555,-2.06932284804e-06,-4.43242575102e-05,3.03407129655e-05,1793250297474321920
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746,720.781132644,689.781132644,670,641.781132644,888.781132644,788,820,654,631,656.218867356,0.435788500892,0.00446810311507,0.0499704593409,0.999999997673,3.04961301728e-05,-5.18880387753e-05,3.21147881216e-05,1793250297490988544
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746.364435245,720.635564755,690.364435245,669.635564755,642,888.635564755,787.635564755,820,654,631,656.364435245,0.436662328257,0.00446698755189,0.0499570118551,0.999999995411,3.34465361986e-05,-8.34502319886e-05,3.31063972774e-05,1793250297507655168
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,746.94313788,720.05686212,690.94313788,669.05686212,642,888.05686212,787.05686212,820,654,631,656.94313788,0.437520738289,0.00446766153683,0.0499334827939,0.999999990918,1.89849611622e-05,-0.000129122138731,3.36379603571e-05,1793250297524321792
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.48078383,720,691,670.03843234,642,888.51921617,787.51921617,820,654,631,656.48078383,0.438432142946,0.0044701632859,0.0499566902178,0.999999996689,3.82977681632e-06,-7.48715093302e-05,3.16358703675e-05,1793250297540988416
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746,720,691,670.903367455,642,889,788,820.096632545,654,631,656,0.439329303717,0.00447319802058,0.0499782626081,0.999999999218,-8.96410191296e-06,-2.46169733408e-05,2.96309336988e-05,1793250297557655296
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746,720,691,670.317732726,642,889,788,820.682267274,654,631,656,0.440125162657,0.00447792204853,0.0499657901794,0.999999998301,-9.42629818415e-06,-4.9682420317e-05,2.90086674382e-05,1793250297574321920
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746,720,691,669.733784032,641.733784032,889,788,820.733784032,654,631,656,0.440938611983,0.00447783893002,0.0499564670493,0.999999997353,4.80462597893e-06,-6.6266053222e-05,2.96651017366e-05,1793250297590988800
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746,720,691,669.151835021,641.151835021,889,788,820.151835021,654,631,656,0.441772923509,0.00447205451916,0.0499508789992,0.999999996179,3.64616409127e-05,-7.27902240281e-05,3.18380792799e-05,1793250297607655680
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746,720,691,669.426582878,641,889,788,820.426582878,654.426582878,631,656,0.442572968756,0.00446775826612,0.0499591883754,0.999999997343,3.43861779922e-05,-5.49314287981e-05,3.33745855711e-05,1793250297624322304
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746,720,691,669.996262938,641,889,787.996262938,821,654.996262938,631,656,0.443360109466,0.00446406885238,0.0499720399389,0.999999998763,2.05446508132e-05,-2.91457412701e-05,3.46831984999e-05,1793250297640988672
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746,720,691,669.421742153,641,889,787.421742153,821,654.421742153,631,656,0.444023805601,0.00447282792854,0.0499293322806,0.99999999321,2.83727955575e-05,-0.000107307253781,3.55012203104e-05,1793250297657655040
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746,720,691,668.843373632,640.843373632,889,787.156626368,821,654,631,656.156626368,0.444683919846,0.00448339241842,0.0498865218135,0.999999982652,3.84836151276e-05,-0.000178718010322,3.57135140469e-05,1793250297674321664
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746,720,691,668.254383386,640.254383386,889,787.745616614,821,654,631,656.745616614,0.445334146508,0.00449894071781,0.0498434275352,0.999999971112,5.48957138786e-05,-0.000231493462341,3.42537084926e-05,1793250297690988032
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,746,720,691,668,640,889.328631318,788,821,654.328631318,631,657,0.446014724954,0.00451197487177,0.0498286169183,0.999999967875,7.26989532337e-05,-0.000240490602805,3.35933761889e-05,1793250297707654912
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746,720,691,668,640,889.907103107,788,821,654.907103107,631,657,0.446718378168,0.00452309765711,0.0498353088295,0.999999971874,9.15597999989e-05,-0.000216205477111,3.35408399247e-05,1793250297724321792
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.483938146,746.483938146,720,691,668,639.516061854,890,787.516061854,821.483938146,654.516061854,631,657,0.447320524633,0.00452771952966,0.0498158735909,0.999999964819,0.000101637360164,-0.000242641032512,3.40183666744e-05,1793250297740988416
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.939718748,747,720.060281252,691.060281252,667.939718748,639,889.939718748,787.060281252,821.939718748,654,631,657,0.447899393941,0.00453083681998,0.0497909973102,0.999999954282,0.000109562119171,-0.000279704639124,3.460557036e-05,1793250297757654784
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.364901788,747,720.635098212,691.635098212,667.364901788,639,889.364901788,787.635098212,821.364901788,654,631,657,0.448445336612,0.00453172741788,0.0497623434079,0.99999994024,0.000113454307427,-0.000324659523645,3.52633540592e-05,1793250297774321408
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,746.784493816,720.784493816,691.784493816,667,638.784493816,889,787.784493816,821.215506184,654,631,656.784493816,0.448986397962,0.00453370129374,0.0497463638295,0.999999931134,0.000116788964696,-0.00035043690244,3.58517105091e-05,1793250297790987776
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,746.194366882,720.194366882,691.194366882,667,638.194366882,889,787.194366882,821.805633118,654,631,656.194366882,0.449518973913,0.00453755826348,0.0497524164045,0.999999933459,0.000119154449344,-0.000342877454327,3.6319379558e-05,1793250297807654400
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,746.389339857,720,691.389339857,666.610660143,638,889.389339857,787,822,654.389339857,631,656,0.450052081261,0.00453877483482,0.0497661215226,0.999999938669,0.000120672850761,-0.000326589754277,3.79390948623e-05,1793250297824321024
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,746.969893543,720,691.969893543,666.030106457,638,889.969893543,787,822,654.969893543,631,656,0.450585449638,0.00453869464564,0.0497835849826,0.999999944958,0.000121775230139,-0.000306015406593,4.0124606816e-05,1793250297840987648
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,746.455484562,720,691.455484562,666,637.455484562,890,787,822,655,631.544515438,656,0.451030251707,0.00453937362601,0.0497832074532,0.999999941803,0.000122425748942,-0.000315796573583,4.09784451049e-05,1793250297857654528
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,746,720,691.118888833,666,637,890,787,822.118888833,654.881111167,631.881111167,656.118888833,0.451453424573,0.00453966012733,0.0497758279851,0.999999934655,0.000121792790715,-0.000337811704675,4.17025773885e-05,1793250297874321408
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,746,720,691.693553514,666,637,890,787,822.693553514,654.306446486,631.306446486,656.693553514,0.451812249656,0.00453828282762,0.0497453465463,0.999999912197,0.000116334201362,-0.000400362432112,4.22086884597e-05,1793250297890988032
+204,3.400000000,POSE1_TO_POSE2_PRESS,769.722955099,746.277044901,720,692,665.722955099,636.722955099,890,787,822.722955099,654.277044901,631,656.722955099,0.452163796313,0.00453822792719,0.0497183683262,0.999999895843,8.08791793126e-05,-0.000448056122321,3.1908224639e-05,1793250297907654400
+205,3.416666667,POSE1_TO_POSE2_PRESS,769.129378998,746.870621002,720,692,665.129378998,636.129378998,890,787,822.129378998,654.870621002,631,656.129378998,0.452507027152,0.00453968390335,0.0496953926289,0.999999885282,1.11524319795e-05,-0.000478775246292,9.26096030426e-06,1793250297924321024
+206,3.433333333,POSE1_TO_POSE2_PRESS,769.449941962,747,720,692,665.449941962,636,890,787.449941962,822,655,631,656.449941962,0.45286175853,0.00453662729194,0.0496985085688,0.999999891227,-2.31294776735e-06,-0.000466375772138,5.86326236297e-06,1793250297940987904
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.025231356,746.974768644,720.025231356,692,665.974768644,635.974768644,890,787.974768644,822.025231356,655,631,657,0.453217181363,0.00453296743112,0.0497087798902,0.99999990207,3.36962429133e-06,-0.000442479756306,7.79284644151e-06,1793250297957654528
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.599249948,746.400750052,720.599249948,692,665.400750052,635.400750052,890,787.400750052,822.599249948,655,631,657,0.453517925927,0.00454354263178,0.0497165115262,0.999999903977,8.44607798528e-05,-0.000429921815272,8.89867632179e-06,1793250297974322176
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.821662732,746,720.821662732,691.821662732,665,635,890,787,823,655,631,656.821662732,0.453800317629,0.00455575482592,0.0497187617357,0.999999899065,0.000145045904084,-0.000425130974256,9.71763751981e-06,1793250297990989568
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.230852118,746,720.230852118,691.230852118,665,635,890,787,823,655,631,656.230852118,0.454040261258,0.00457175319405,0.0497083340425,0.999999891382,0.000158202953977,-0.000438304539067,9.87310480082e-06,1793250298007656192
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,746.352511404,720,691.352511404,664.647488596,635,889.647488596,787,822.647488596,655,631,656,0.454257834197,0.00458203488534,0.049696134113,0.999999881921,0.000166205770531,-0.00045655039294,9.7515095412e-06,1793250298024322816
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,746.931098939,720,691.931098939,664.068901061,635,889.068901061,787,822.068901061,655,631,656,0.454461060166,0.00458865030196,0.0496827975943,0.999999871086,0.000170903023968,-0.00047804925905,9.45222578052e-06,1793250298040989440
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,747,720.507228531,692,664,634.492771469,889.507228531,787.507228531,822.507228531,655,631,656,0.454635525012,0.00458482621164,0.0496719298137,0.999999863647,0.000164869285224,-0.000495383786649,1.09044446984e-05,1793250298057656064
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,747,720.917160194,692,664,634,890,787.917160194,822.917160194,654.917160194,631,656,0.454801152771,0.00458072544559,0.0496610681773,0.999999856207,0.000158373760641,-0.000512206483707,1.21781238317e-05,1793250298074322432
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,720.342652876,692,664,634,890,787.342652876,822.342652876,654.342652876,631,656,0.454937407111,0.00458335853479,0.04964826225,0.999999847401,0.000157747301003,-0.000529332582896,1.09868511842e-05,1793250298090988800
+216,3.600000000,POSE1_TO_POSE2_PRESS,770.238183922,746.761816078,720.238183922,692,664,634,890.238183922,787,822.476367844,654.238183922,631,656,0.455060903736,0.00458413965658,0.0496363530471,0.999999838182,0.000156503525834,-0.000546835561857,1.06592181026e-05,1793250298107655424
+217,3.616666667,POSE1_TO_POSE2_PRESS,770.828374891,746.171625109,720.828374891,692,664,634,890.828374891,787,823.656749782,654.828374891,631,656,0.455165545992,0.00458218379424,0.0496257690951,0.999999828468,0.000154347432983,-0.000564895522595,1.1607939984e-05,1793250298124322048
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.587376511,746,720.587376511,692,664,634,890.587376511,787,823.174753022,655,631,656,0.455264756002,0.00458109246154,0.0496217027046,0.999999824372,0.000151089039761,-0.000572958743609,1.20806292958e-05,1793250298140988416
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.005564485,746,720.005564485,692,664,634,890.005564485,787,822.01112897,655,631,656,0.455361738617,0.00458035561308,0.0496203087184,0.999999822643,0.000147378668973,-0.000576922988245,1.23581303423e-05,1793250298157655296
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,746,720,692,664,634,890,787,822.565448858,655,631,656,0.455442100811,0.00458225610556,0.0496215042247,0.999999824954,0.00014989917472,-0.000572253127984,1.21691549644e-05,1793250298174322432
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,746,720,692,664,633.861995873,890,787,823,654.861995873,631,656,0.455515231092,0.00458390345779,0.0496219981091,0.999999825884,0.000152003871441,-0.000570070969414,1.20943612763e-05,1793250298190989312
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,746,720,692,664,633.284194531,890,787,823,654.284194531,631,656,0.455565825869,0.00458466293181,0.0496201763482,0.999999822346,0.000152591704789,-0.000576082422907,1.23978016144e-05,1793250298207655936
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746.301138041,720.301138041,692,664,633.301138041,890,787,823,654.301138041,631,656,0.455609250021,0.00458429728967,0.0496183612841,0.999999819581,0.000151526227605,-0.000581134180833,1.26542371629e-05,1793250298224322560
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,746.893760482,720.893760482,692,664,633.893760482,890,787,823,654.893760482,631,656,0.455645733424,0.00458284259953,0.0496165527018,0.999999817575,0.000148860440466,-0.000585257009057,1.28651747999e-05,1793250298240988928
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,746.528804802,721,692,664,633.528804802,890,787,823,655,631,656,0.455673961461,0.00458463006929,0.0496155961441,0.99999981655,0.000151141627727,-0.000586427981019,1.26026617988e-05,1793250298257655552
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,746.045600198,721,692,664,633,890,787,823,654.954399802,631,656,0.455699714806,0.00458684752679,0.0496149204312,0.999999815802,0.000154160457989,-0.00058692378248,1.22784684689e-05,1793250298274322176
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,746.623363203,721,692,664,633,890,787,823,654.376636797,631,656,0.455717631742,0.00458581845861,0.0496153503395,0.999999815868,0.000153177427754,-0.000587064772923,1.24413233042e-05,1793250298290989056
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,747,721,692.204685371,664,633,890,787,823,654,631,656,0.455731954158,0.00458503962741,0.0496148540222,0.999999815409,0.000152138563683,-0.000588110712987,1.26751704791e-05,1793250298307655680
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,747,721,692.792672532,664,633,890,787,823,654,631,656,0.455739545335,0.00458472939975,0.0496126232187,0.999999813963,0.000150995143059,-0.000590851296912,1.30419606607e-05,1793250298324322560
+230,3.833333333,POSE1_TO_POSE2_PRESS,770,746.625135842,721,692.625135842,664,633,890,787,823,654.374864158,631,656,0.455744352544,0.00458598340324,0.0496112119456,0.999999812051,0.000152588975184,-0.000593674977669,1.28228464213e-05,1793250298340989440
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,746.04610079,721,692.04610079,664,633,890,787,823,654.95389921,631,656,0.455747643456,0.00458808936995,0.0496102470322,0.999999809875,0.000155673660301,-0.000596543917268,1.22846175611e-05,1793250298357656064
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746.530267225,720.469732775,692,663.469732775,633,890,787,823,655,631,656,0.455748932557,0.00458612711861,0.0496085002156,0.999999808841,0.000154479142959,-0.000598572608404,1.28559933998e-05,1793250298374322688
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,747,720,692,663.106040348,633.106040348,890,787,823,654.893959652,631,656,0.455749935046,0.0045847236052,0.0496068632595,0.999999807913,0.000153374763513,-0.000600393627512,1.33149719533e-05,1793250298390988800
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,747,720,692,663.680205586,633.680205586,890,787,823,654.319794414,631,656,0.455750436708,0.0045873402579,0.0496060098857,0.99999980704,0.00015430244237,-0.000601618731653,1.285402786e-05,1793250298407655168
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,747,720,692.261645901,664,634,890,787,823,654.261645901,631,656,0.45575120968,0.00458838565029,0.0496057314444,0.999999806499,0.000155209260043,-0.000602288913682,1.26798852673e-05,1793250298424321536
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,747,720,692.852232506,664,634,890,787,823,654.852232506,631,656,0.455752323743,0.00458745565768,0.0496061758069,0.999999806376,0.000156089851204,-0.000602261448908,1.28663088853e-05,1793250298440988160
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,746.566318308,720.433681692,692.566318308,663.566318308,633.566318308,890,787,823,655,631,656,0.455752454261,0.0045881163633,0.0496058784261,0.999999805856,0.000157456533923,-0.000602769833992,1.27967986007e-05,1793250298457655040
+238,3.966666667,POSE1_TO_POSE2_PRESS,770.012047333,746.012047333,721,692,663.012047333,633,890,787,823,655,631,656,0.455752267995,0.00458925436638,0.049605329267,0.999999805206,0.00015892256111,-0.000603466286747,1.26476350312e-05,1793250298474321920
+239,3.983333333,POSE1_TO_POSE2_PRESS,770.588801519,746.588801519,721,692,663.588801519,633,890,787,823,655,631,656,0.455752617158,0.00458788395365,0.0496045803858,0.999999804756,0.000157441955466,-0.000604596610976,1.27680500235e-05,1793250298490988800
+240,4.000000000,POSE1_TO_POSE2_PRESS,770.831340553,746.831340553,720.831340553,692,663.831340553,633.168659447,890,787.168659447,823,655,631,656,0.455753406791,0.00458795583867,0.0496043959361,0.999999804594,0.000157586953867,-0.000604827388994,1.27495479661e-05,1793250298507655680
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.243773754,746.243773754,720.243773754,692,663.243773754,633.756226246,890,787.756226246,823,655,631,656,0.455755290439,0.00459161002612,0.0496056133908,0.99999980514,0.000161769541125,-0.000602823921963,1.23860111305e-05,1793250298524322048
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,746,720,692,663,633.6611367,890,787.6611367,823,655,631,656,0.455755222534,0.00459273578215,0.0496054263323,0.999999804766,0.000163029811607,-0.000603103519513,1.24393034157e-05,1793250298540988416
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,746,720,692,663,633.08199521,890,787.08199521,823,655,631,656,0.455753770839,0.00459206870025,0.0496042433739,0.999999803747,0.000162217951399,-0.00060500197238,1.27881572198e-05,1793250298557654784
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,746.494441563,720.494441563,692,663.494441563,633,890,787,823,655,631,656,0.455753034816,0.00459229887478,0.0496035053311,0.99999980298,0.000161955231856,-0.000606351065974,1.2167741192e-05,1793250298574321408
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,746.929747048,720.929747048,692,664,633,890,787,823,655,631,656,0.455752532834,0.00459261048032,0.0496029193016,0.999999802331,0.000161838882641,-0.000607464977852,1.15378956745e-05,1793250298590988288
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,746.355222876,720.355222876,692,664,633,890,787,823,655,631,656,0.455752863512,0.00459244435764,0.0496028976929,0.999999802233,0.000162123059447,-0.000607541139487,1.19878554139e-05,1793250298607655680
+247,4.116666667,HOLD_POSE2,770,746,721,692,663,633,890,787,823,655,631,657,0.455752862333,0.0045915929849,0.0496019904344,0.999999802188,0.000162022396609,-0.000607630496219,1.25618957238e-05,1793250298646247168
+248,4.133333333,HOLD_POSE2,770,746.580499818,721,692,663,633,890,787,823,655,631,657,0.455754923803,0.00459091991218,0.0496025114854,0.999999803187,0.000160463482024,-0.000606399050162,1.25179757823e-05,1793250298662913792
+249,4.150000000,HOLD_POSE2,770,746.84056951,720.84056951,692,663.15943049,633,890,787,823,654.84056951,631,656.84056951,0.455756063693,0.00459080266925,0.0496029094715,0.999999803592,0.000159920435919,-0.000605876241716,1.24895863932e-05,1793250298679580416
+250,4.166666667,HOLD_POSE2,770,746.265727278,720.265727278,692,663.734272722,633,890,787,823,654.265727278,631,656.265727278,0.455754802315,0.00459213369509,0.0496029868,0.99999980245,0.000162024334227,-0.000607199857658,1.25016633685e-05,1793250298696247040
+251,4.183333333,HOLD_POSE2,770.310534578,746.310534578,720.310534578,692,663.689465422,633,890,787,823,654.310534578,631,656,0.45575445838,0.0045924118187,0.0496033099652,0.999999802446,0.000162937363048,-0.000606961209176,1.25849380612e-05,1793250298712913408
+252,4.200000000,HOLD_POSE2,770.888016764,746.888016764,720.888016764,692,663.111983236,633,890,787,823,654.888016764,631,656,0.455754903116,0.00459178482651,0.0496038444611,0.99999980342,0.000162826673995,-0.000605379577325,1.27294170815e-05,1793250298729579520
+253,4.216666667,HOLD_POSE2,770.524274226,746.524274226,721,692,663,633,890,787,823,655,631,656.475725774,0.455755863172,0.00459210742508,0.0496037346156,0.999999803647,0.000163041077355,-0.000604950109262,1.2583036402e-05,1793250298746246400
+254,4.233333333,HOLD_POSE2,770,746,721,692,663.064017358,633,889.935982642,787,823,654.935982642,631,656.935982642,0.455756748843,0.00459264660309,0.0496034250519,0.999999803573,0.000163370163507,-0.000604987436892,1.24017709371e-05,1793250298762913536
+255,4.250000000,HOLD_POSE2,770,746,721,692,663.637369986,633,889.362630014,787,823,654.362630014,631,656.362630014,0.455756056375,0.00459309142175,0.0496027597538,0.999999802534,0.00016398946501,-0.000606533453813,1.24996583192e-05,1793250298779580416
+256,4.266666667,HOLD_POSE2,770,746,721,692,663.786996811,633,889.213003189,787,823,654.213003189,631,656,0.455755670682,0.00459274640157,0.0496022907843,0.999999802012,0.000163597546643,-0.000607500287218,1.24336332157e-05,1793250298796247040
+257,4.283333333,HOLD_POSE2,770,746,721,692,663.207439053,633,889.792560947,787,823,654.792560947,631,656,0.455755812913,0.0045910421574,0.0496021596743,0.999999802381,0.00016146543238,-0.000607470410673,1.2085533122e-05,1793250298812913152
+258,4.300000000,HOLD_POSE2,770,746.377432654,720.622567346,692,663,633,890,787,823,655,631,656,0.455755852683,0.00459092504565,0.0496019960788,0.999999802162,0.000161017848619,-0.000607949631351,1.21334031675e-05,1793250298829579776
+259,4.316666667,HOLD_POSE2,770,746.965266698,720.034733302,692,663,633,890,787,823,655,631,656,0.455755835334,0.00459169268727,0.0496018143742,0.999999801615,0.000161509313133,-0.000608712650375,1.24020083673e-05,1793250298846246400
+260,4.333333333,HOLD_POSE2,769.455395403,746.455395403,720,692,663,633,890,787,823,654.455395403,631,656,0.455754791232,0.00459258975226,0.0496012385823,0.99999980074,0.000162854505577,-0.000609792114717,1.23339229441e-05,1793250298862913024
+261,4.350000000,HOLD_POSE2,769.122449768,746,720,692,663,633,890,787,823,654,631,656,0.455754197363,0.00459322657161,0.0496010209912,0.999999800353,0.000163644956358,-0.000610216697661,1.2244173269e-05,1793250298879579392
+262,4.366666667,HOLD_POSE2,769.696755557,746,720,692,663,633,890,787,823,654,631,656,0.455755502841,0.0045928730586,0.0496022165305,0.999999801849,0.000162190501461,-0.000608151350806,1.21525012014e-05,1793250298896246528
+263,4.383333333,HOLD_POSE2,770,746,720,692,663,633,890,787,823,654.273221279,631,656,0.455756373978,0.00459307460103,0.0496031119961,0.999999802752,0.000161301097934,-0.000606904365413,1.20443445871e-05,1793250298912913408
+264,4.400000000,HOLD_POSE2,770,746,720,692,663,633,890,787,823,654.852103348,631,656,0.455756759206,0.00459389710055,0.0496036717599,0.999999802996,0.000161043834305,-0.000606572905508,1.19177462246e-05,1793250298929580032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,633,890,787,823,654,631,656,0.455756625077,0.00459553064887,0.0496022596376,0.999999801217,0.000166007745378,-0.000608168249465,1.17992964657e-05,1793250298962267904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,692,663,633,890,787,823,654,631,656,0.455755000388,0.00459477691675,0.0496010531158,0.999999800305,0.000164997050575,-0.000609935244064,1.20783040869e-05,1793250298978934528
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,746.162175328,720.162175328,692.162175328,663,633,890,787,823,654.162175328,631,656,0.455754420352,0.00459438719655,0.0496005299929,0.999999799966,0.00016461933776,-0.000610589276626,1.22140472725e-05,1793250298995601408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746.73657929,720.73657929,692.73657929,663,633,890,787,823,654.73657929,631,656,0.455756495685,0.00459492274728,0.0496017439811,0.999999801091,0.000165850582793,-0.000608414304514,1.19856309151e-05,1793250299012267520
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.318088089,746.681911911,721,692.681911911,663,633,890,787,823,654.681911911,631,656,0.455757587038,0.00459534601949,0.0496026338051,0.999999801946,0.000166213395468,-0.000606913791111,1.17250729836e-05,1793250299028934144
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.905615058,746.094384942,721,692.094384942,663,633,890,787,823,654.094384942,631,656,0.455757844904,0.00459567418534,0.0496032490433,0.999999802574,0.000165840595987,-0.000605984583104,1.14372893066e-05,1793250299045601280
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.514210061,746.485789939,721,692,663,633,890,787,823,654.485789939,631,656,0.455757109838,0.00459294769063,0.0496032700627,0.999999802765,0.000163572650131,-0.000606272942616,1.20896644187e-05,1793250299062268160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.064364666,633,890,787,823,655,631,656,0.455755592517,0.0045902322151,0.0496027213631,0.99999980242,0.000161517817409,-0.000607378509008,1.27859744908e-05,1793250299078934784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.64140213,633,890,787,823,655,631,656,0.455749358161,0.00459226129609,0.0495985406574,0.999999798498,0.00016404958221,-0.000613137068122,1.23989732029e-05,1793250299095601152
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.217657122,747,720.782342878,692,663.782342878,633,890,787,823,655,631.217657122,656,0.455736912863,0.00459382483461,0.049591839704,0.999999791809,0.000165361941984,-0.000623614008146,1.19328338818e-05,1793250299112267776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.792627523,747,720.207372477,692,663.207372477,633,890,787,823,655,631.792627523,656,0.455714271471,0.00459462412269,0.0495810014271,0.9999997804,0.000164672485026,-0.000641836800853,1.13367789305e-05,1793250299128934144
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770.623869833,747,720.376130167,692,663,633,890,787,823,655,631.623869833,656,0.455676145446,0.00459554962943,0.0495637912024,0.999999760969,0.000165899435385,-0.000671131997164,1.0985720699e-05,1793250299145600512
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.035553852,747,720.964446148,692,663,633,890,787,823,655,631.035553852,656,0.455629284094,0.00459654633983,0.0495429863781,0.999999736101,0.000168207485859,-0.000706673455005,1.07728720778e-05,1793250299162267136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.545776022,633,890,787.545776022,822.454223978,655,631,656,0.455561436962,0.00459581844746,0.0495201459594,0.999999713603,0.000165708840308,-0.000738398079161,1.01239186771e-05,1793250299178933760
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,746.874313491,720.874313491,692,663.874313491,633,890,787.874313491,822.125686509,655,631,656.125686509,0.455490964413,0.00459531915297,0.0494999149886,0.999999693055,0.000164430621302,-0.00076600330742,9.51157344575e-06,1793250299195600896
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,746.297881658,720.297881658,692,663.297881658,633,890,787.297881658,822.702118342,655,631,656.702118342,0.455415917187,0.00459603748517,0.0494895117372,0.999999681761,0.000168637937052,-0.000779715723299,9.13111096047e-06,1793250299212267520
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,746.277255174,720.277255174,692,663.277255174,633,890,787,823,655,631,657,0.455333886101,0.00459712827682,0.0494839057377,0.999999675896,0.000170726819414,-0.000786759076106,8.4308841413e-06,1793250299228934144
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,746.851007096,720.851007096,692,663.851007096,633,890,787,823,655,631,657,0.455244386477,0.00459861737663,0.0494834299212,0.999999676004,0.000170550248384,-0.000786670530593,7.38870129205e-06,1793250299245600512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.561740574,633,890,787,823,655,631,657,0.455144516458,0.0046009631051,0.0494878194529,0.999999680224,0.000174982428035,-0.000780310253664,7.00348644335e-06,1793250299262267136
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.029438516,633.029438516,890,787,823,655,631,656.970561484,0.455038955032,0.00460357975879,0.0494935392619,0.999999685438,0.000180884888612,-0.00077224256235,6.80560176468e-06,1793250299278933760
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,663.605597395,633.605597395,890,787,823,655,631,656.394402605,0.454895251618,0.00460564753366,0.0494922697813,0.999999684029,0.000184069722226,-0.000773321819859,5.80700662595e-06,1793250299295600384
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,633.819070581,890,787,823,655,631,656,0.454744598504,0.00460729627256,0.0494920355531,0.99999968381,0.000186781773357,-0.000772960604658,4.99071412007e-06,1793250299312267264
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,633.245532867,890,787,823,655,631,656,0.454578864889,0.00460803572293,0.0494940477739,0.999999686185,0.000188467908415,-0.000769473631583,4.57000984676e-06,1793250299328934656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,633.33766034,889.66233966,787,822.66233966,655,631,656,0.45440248098,0.0046104794516,0.0495015166399,0.999999692773,0.000192989987387,-0.000759731993764,3.89435043562e-06,1793250299345601280
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,633.928081371,889.071918629,787,822.071918629,655,631,656,0.454218124617,0.00461419894332,0.0495130701594,0.999999702326,0.000199634954672,-0.000745308332724,3.02784050331e-06,1793250299362267392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,747,721,692,664,634,889.508695286,787,822,655,631,656,0.453997336624,0.00461570553189,0.0495273809912,0.999999716509,0.000204484338064,-0.000724679819236,2.76520225475e-06,1793250299378934016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746.9127083,721,692,664,634,890,787,822,655,631,656,0.453763634095,0.00461736062028,0.0495408670655,0.999999729573,0.000209496373409,-0.000704953903314,2.40962804457e-06,1793250299395600384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,746.337783002,721,692,664,634,890,787,822,655,631,656,0.453486016247,0.00462155990991,0.0495476093683,0.99999973493,0.000216808313994,-0.000695077879399,1.06698674327e-06,1793250299412266752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,746.237373157,720.762626843,692,664,634,890,787,821.762626843,655,631,656,0.453191811526,0.00462493695158,0.0495543479227,0.999999737972,0.000223942519851,-0.000688408401877,8.68878466667e-08,1793250299428933632
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,746.812858119,720.187141881,692,664,634,890,787,821.187141881,655,631,656,0.452873980658,0.00462714279174,0.0495610811374,0.999999737852,0.000230823561839,-0.000686306295665,-3.76809419081e-07,1793250299445600256
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,746.60224088,720,692,664,634.39775912,890,787.39775912,821,654.60224088,631,656,0.452537910472,0.00463017197662,0.0495694037985,0.999999740786,0.00023763103076,-0.00067967495076,-7.56713538548e-07,1793250299462266880
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,746.012802322,720,692,664,634.987197678,890,787.987197678,821,654.012802322,631,656,0.452193050801,0.00463359792982,0.0495784924109,0.999999745106,0.000244403044724,-0.000670860973491,-1.0962378709e-06,1793250299478933760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,746.567272802,720,692,664.567272802,635,890,787.432727198,821,654.567272802,631,656.567272802,0.451789883922,0.00463909622429,0.0495824688085,0.999999744882,0.000252567328407,-0.000668158711209,-3.08519286692e-06,1793250299495600384
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,747,720,691.854311877,664.854311877,635.145688123,890,787,820.854311877,654.854311877,631.145688123,656.854311877,0.451375473176,0.00464442748913,0.0495848998719,0.999999745697,0.000260567228059,-0.00066383999442,-5.25491751994e-06,1793250299512267008
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,747,720,691.280166635,664.280166635,635.719833365,890,787,820.280166635,654.280166635,631.719833365,656.280166635,0.450931802273,0.00464913222177,0.0495831200254,0.99999974996,0.000267992779792,-0.000654368359411,-7.84857378677e-06,1793250299528933632
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,747,720,691,664.588797278,636,890,787,820,654,631.705601361,656,0.450486452001,0.00465320215569,0.0495936497712,0.999999765089,0.000274387788925,-0.000628037328097,-1.00953024825e-05,1793250299545600000
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,747,720,691,665.738728558,636,890,787,820,654,631.130635721,656,0.450039501211,0.00465666711597,0.0496159107715,0.999999789297,0.000279800673635,-0.000585638998214,-1.20114034865e-05,1793250299562266624
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,746.540266627,720,691,666,636,889.540266627,787,819.540266627,654,631,656,0.44955952055,0.00466125171904,0.0496408739277,0.999999810354,0.000287538847848,-0.000544435839266,-1.42307574669e-05,1793250299578933248
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,746.052777364,720,691,666,636.052777364,889,787.052777364,819,654,631,656,0.44906254432,0.00466591230291,0.0496640849299,0.999999827471,0.000295653614844,-0.000507319137009,-1.65344668586e-05,1793250299595599872
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,746.627488731,720,691,666,636.627488731,889,787.627488731,819,654,631,656,0.448493527937,0.00466806889541,0.0496621116789,0.999999826008,0.000300731799484,-0.000507139832039,-1.87906811023e-05,1793250299612266752
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,746.796780372,720,691,666.203219628,637.203219628,889,788,819,654,631,656,0.447897019067,0.00467089257545,0.0496552016305,0.999999819642,0.000307236030137,-0.00051562408155,-2.12940897381e-05,1793250299628933632
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,746.219171241,720,691,666.780828759,637.780828759,889,788,819,654,631,656,0.447249861095,0.00467494522413,0.0496391965692,0.999999803824,0.00031636745077,-0.000540069111265,-2.42529020045e-05,1793250299645600512
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770.365276888,746,720.365276888,690.269446224,667,638,889,788,819,654,631,656,0.446604128267,0.00467702894873,0.0496262547695,0.999999790543,0.00032236176478,-0.000560608718507,-2.67171354545e-05,1793250299662267392
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770.953906784,746,720.953906784,689.092186433,667,638,889,788,819,654,631,656,0.445959266884,0.00467790875052,0.049615186039,0.99999977882,0.000326437856357,-0.000578760306655,-2.88789525474e-05,1793250299678934528
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770.46629181,746,720.46629181,690.067416381,667,638.53370819,889,787.46629181,819.53370819,654,631,656,0.445319151156,0.00467716237581,0.0496532756777,0.999999807321,0.000329996287958,-0.000524874431028,-3.11027999101e-05,1793250299695601152
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,746,720,690.887870982,667.112129018,639,889,787,819.887870982,654,631,656,0.444667143848,0.00467139436737,0.0496944398082,0.999999836801,0.000327998029342,-0.000466590522827,-3.3289312642e-05,1793250299712267776
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,746,720,690.312057689,667.687942311,639,889,787,819.312057689,654,631,656,0.44396429448,0.00464543184581,0.0497310471036,0.999999867121,0.000303203202065,-0.000415428312963,-3.52996432176e-05,1793250299728934144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,746,720.259511257,690,668,639.259511257,889,787.259511257,819,654,631,656,0.44323058267,0.00461919365727,0.0497480762473,0.999999902531,0.000199510656764,-0.000392192613649,-3.63182708296e-05,1793250299745600512
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,746,720.826058655,690,668,639.826058655,889,787.826058655,819,654,631,656,0.44246035642,0.00459262931485,0.0497419418529,0.999999918542,2.47166591391e-06,-0.000401997653458,-3.61635820053e-05,1793250299762267136
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,746,720.584981102,690,668.415018898,640,888.584981102,788,819,654,630.584981102,656,0.441714603634,0.00458690642477,0.049765951802,0.999999934728,-4.58717099221e-05,-0.000356286238185,-3.87222900907e-05,1793250299778934272
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770,746,720,690,669.013453922,640,888.013453922,788,819,654,630,656,0.440977957906,0.00459056269544,0.049802984164,0.999999957547,-2.82156195349e-05,-0.000286891218202,-4.2472978741e-05,1793250299795601664
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770,746,720,690,669.592751115,640,888.592751115,788,819,654,630,656,0.440168308866,0.004600338487,0.0498260186717,0.9999999662,-5.47372646807e-06,-0.000255876612584,-4.5795904519e-05,1793250299812268032
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770,746,720,689.829362819,669.829362819,640,888.829362819,788,819,654,630.170637181,656,0.439330160096,0.00460914738148,0.0498307466748,0.999999966672,1.56699079526e-05,-0.000252931374457,-4.93528643392e-05,1793250299828934400
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770,746,720,689.254817015,669.254817015,640,888.254817015,788,819,654,630.745182985,656,0.438424550775,0.00461566757094,0.0497921420628,0.999999947962,3.30303651811e-05,-0.000316428044825,-5.34637968298e-05,1793250299845600512
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,746,720,689,669,640,888,788,819,654,630.682847066,656,0.437525169822,0.00461971179133,0.0497765427591,0.999999937134,4.66787931841e-05,-0.000346872751628,-5.68485120183e-05,1793250299862266880
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,746,720,689,669,640,888,788,819,654,630.112930047,656,0.436630752788,0.00462178271716,0.0497792781946,0.999999934983,5.73688127665e-05,-0.000350975750098,-5.96544475263e-05,1793250299878933504
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,746,720,688.521407262,669.478592738,640,888.478592738,788,819,654,630.478592738,656,0.435723658212,0.00462123534466,0.0497834270341,0.99999993396,6.30246070468e-05,-0.000352312857282,-6.31202986956e-05,1793250299895600128
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769.927803291,746.072196709,720,688.072196709,669.927803291,640.072196709,889,788,819,654,631,656,0.434816280162,0.00461849719065,0.0497857860383,0.999999932772,6.88267170355e-05,-0.000354231368708,-6.51001820782e-05,1793250299912266752
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769.356713081,746.643286919,720,688.643286919,669.356713081,640.643286919,889,788,819,654,631,656,0.433928592374,0.00460509141392,0.0497733633413,0.999999928329,8.42365359716e-05,-0.000364890642302,-5.56848351245e-05,1793250299928933632
+324,5.400000000,POSE2_TO_POSE3_RETREAT,769.217386697,746.782613303,720,689,669.217386697,640.782613303,888.782613303,787.782613303,818.782613303,654,631,656,0.433034952289,0.00459724584814,0.0497755153762,0.999999929232,0.00010933713681,-0.000357394002968,-4.30188314462e-05,1793250299945600512
+325,5.416666667,POSE2_TO_POSE3_RETREAT,769.79649434,746.20350566,720,689,669.79649434,640.20350566,888.20350566,787.20350566,818.20350566,654,631,656,0.432131407725,0.00459865220225,0.0498019190578,0.999999937255,0.00015056273219,-0.000319686803935,-2.49438906535e-05,1793250299962267136
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,688.6145186,669.6145186,640,888,787.3854814,818,654,631,656,0.431213153208,0.00460468896755,0.0498021326163,0.999999934508,0.00017152874143,-0.000317883406241,-2.26376730354e-05,1793250299978933760
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,746,720,688.020178788,669.020178788,640,888,787.979821212,818,654,631,656,0.430286928718,0.00461323454468,0.0497881560527,0.999999926818,0.000181517863375,-0.000335533118091,-2.88751384644e-05,1793250299995600384
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.555784102,640,888,788,818.555784102,654,630.444215898,656,0.429301445937,0.00461268119744,0.0497704567537,0.999999919808,0.000176045136421,-0.000358110569472,-3.3890297024e-05,1793250300012266752
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,746,720,687.869039503,670,640,888,788,818.869039503,654,630.130960497,656,0.428323863359,0.00461335728958,0.0497590307206,0.999999914659,0.000164796814219,-0.000376967080942,-3.76838117688e-05,1793250300028933632
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,746,720,687.294339685,670,640,888,788,818.294339685,654,630.705660315,656,0.427380106087,0.00461928267158,0.0497693039906,0.999999916871,0.000135820024211,-0.000382628955121,-3.74835314807e-05,1793250300045600256
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,745.718614018,719.718614018,687,669.718614018,640.281385982,888,788,818.281385982,654,631,656,0.42644152023,0.0046215256356,0.0497705464721,0.999999917724,0.000129866610521,-0.000382458029033,-3.75798606851e-05,1793250300062266624
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,745.141811388,719.141811388,687,669.141811388,640.858188612,888,788,818.858188612,654,631,656,0.425508363711,0.00461990256597,0.0497623078651,0.999999917564,0.000148084582834,-0.000376163463287,-3.79875891616e-05,1793250300078933504
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,745.446773758,719.446773758,687,669.446773758,641,888,788,818.553226242,653.553226242,631,656,0.424623173999,0.00461021395283,0.0497919422585,0.999999938199,0.000144973955393,-0.000317967124205,-3.85009537197e-05,1793250300095600384
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,746,719.962059943,687,670,641,888,788.037940057,818,653.037940057,631,656,0.423750547712,0.00459896366559,0.0498310198576,0.999999959327,0.000135154343196,-0.000248094446673,-3.90975791817e-05,1793250300112267264
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,746,719.388677397,687,670,641,888,788.611322603,818,653.611322603,631,656,0.422834536341,0.00460278269931,0.0498291170435,0.999999959082,0.000128783183123,-0.000252231741343,-4.03832315919e-05,1793250300128933888
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,746,719.184072409,687,669.815927591,640.815927591,887.815927591,788.815927591,818,654,631,656,0.421918640944,0.00460756943227,0.0498201360603,0.999999954471,0.000130004986083,-0.000269195785907,-4.11116414796e-05,1793250300145600256
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,746,719.755490837,687,669.244509163,640.244509163,887.244509163,788.244509163,818,654,631,656,0.421002989421,0.00461439250834,0.0497962603915,0.999999939307,0.000147204760837,-0.00031315133138,-4.06674386946e-05,1793250300162266880
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,745.659390647,720,686.659390647,669,640.340609353,886.659390647,788,818,654,631,656,0.420097289204,0.00461910798217,0.0497950221312,0.99999993408,0.000151402332643,-0.00032762125219,-3.97684069561e-05,1793250300178933504
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,745.064025295,720,686.064025295,669,640.935974705,886.064025295,788,818,654,631,656,0.41919903204,0.0046222470916,0.0498107153383,0.999999937406,0.000145875011512,-0.000320037637275,-3.85291896682e-05,1793250300195600128
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.482228928,745,719.482228928,686,669,640.482228928,886,788.517771072,818.517771072,654,631,656,0.418306972601,0.00462363034702,0.0497885923082,0.999999923106,0.000151136503136,-0.000359658956557,-3.98974553404e-05,1793250300212267264
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769.673402396,745,719,686,669,640.673402396,886,788.326597604,818.326597604,654,631,656,0.416640406888,0.00461491615513,0.0497797500511,0.999999922836,0.000148195812611,-0.000361362283643,-4.22224101989e-05,1793250300245601024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,745,719.249602772,686,669.249602772,641,886,788,818,654,631,656,0.415858544708,0.00460816412552,0.049793999088,0.999999936449,0.000132382797193,-0.000328269815321,-4.2606131061e-05,1793250300262267904
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,745,719.825872269,686,669.825872269,641,886,788,818,654,631,656,0.415089969747,0.00460342347678,0.0498119660438,0.999999950887,0.000105274281038,-0.000292130798738,-4.24546165473e-05,1793250300278934272
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,745,719.58927544,685.58927544,669.58927544,641,886,788,818,654,631,656,0.414288301849,0.00460657876475,0.0497988755837,0.999999941991,0.00011273430679,-0.000318596584391,-4.248826723e-05,1793250300295600640
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,745,719.000706742,685.000706742,669.000706742,641,886,788,818,654,631,656,0.41347230461,0.00461315300071,0.0497723372334,0.999999920703,0.000135162542673,-0.000372170307282,-4.26020945149e-05,1793250300312267008
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,745,719,685,669,641,885.41975132,788,818,654,631,656,0.412745213006,0.00461864554131,0.0497755090749,0.999999921296,0.000153361837678,-0.000363375370537,-4.29801669864e-05,1793250300328933376
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745,719.159156173,685,669.159156173,641,885.159156173,788,818,654,631.159156173,656,0.412034130322,0.00462211660244,0.0497854417337,0.99999992531,0.000165963673541,-0.000346386823665,-4.30279536714e-05,1793250300345600256
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,745,719.73275482,685,669.73275482,641,885.73275482,788,818,654,631.73275482,656,0.411364456362,0.00462032712112,0.0498128865424,0.999999938149,0.00016400297578,-0.000308257374944,-4.22148494188e-05,1793250300362266880
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,745,720,685,669.692197027,641,885.692197027,788,817.692197027,654,631.692197027,656,0.410686066446,0.00461846550671,0.0498150257648,0.999999939419,0.000148912110588,-0.000311870343344,-4.15202569853e-05,1793250300378933760
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,745,720,685,669.115884443,641,885.115884443,788,817.115884443,654,631.115884443,656,0.410000073273,0.00461654096767,0.0497950898474,0.99999992976,0.000122367242497,-0.000351896997693,-4.09290474609e-05,1793250300395600896
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,745.470111538,720,684.529888462,669,640.529888462,885.470111538,788,817,654,631,656,0.409376989018,0.00460977333015,0.049789281427,0.999999929072,0.00011919223343,-0.000354833828784,-4.17385460899e-05,1793250300412267520
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,746,719.94214393,684,669.05785607,640,885.94214393,788,817.05785607,654,631,656,0.408775459264,0.00460243723181,0.0497892339101,0.99999993171,0.00012173704632,-0.000346308928688,-4.27888601073e-05,1793250300428933888
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,746,719.360632316,684,669.639367684,640,885.360632316,788,817.639367684,654,631,656,0.408225710748,0.00460098873072,0.0498091454488,0.999999940809,0.0001228146772,-0.000318535697531,-4.28279354926e-05,1793250300445600768
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,745.783139707,719.216860293,684.216860293,669.783139707,640.216860293,885.216860293,788,817.783139707,654,631,656,0.407684850111,0.00460142386904,0.0498230168071,0.999999946056,0.000125046443332,-0.000300703150947,-4.27692637952e-05,1793250300462267136
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,745.212209035,719.787790965,684.787790965,669.212209035,640.787790965,885.787790965,788,817.212209035,654,631,656,0.407158500875,0.00460493444798,0.049827026289,0.999999946023,0.00012916257984,-0.000299100881376,-4.25509993125e-05,1793250300478933504
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,745,719.627742447,685,669.372257553,641,885.627742447,788,817,654,631,656,0.406632880227,0.00460576792776,0.0498103206958,0.999999935958,0.000128713532866,-0.000331221821238,-4.25291204204e-05,1793250300495600384
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,745,719.035268358,685,669.964731642,641,885.035268358,788,817,654,631,656,0.40610769054,0.00460501771536,0.0497813606784,0.999999917752,0.000125563858752,-0.000383292411448,-4.26234173087e-05,1793250300512267008
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,745,719.543325492,684.456674508,669.456674508,640.456674508,884.456674508,788,817,654,631,656,0.405631619076,0.00460801242604,0.0497681659972,0.99999991004,0.000127932701899,-0.000402006358111,-4.4101100145e-05,1793250300528933888
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.120325585,745,720,684,669,640,884.24065117,788,817.120325585,654,630.879674415,656,0.405180672017,0.00461125740112,0.0497635499538,0.99999990768,0.000131194163732,-0.000406646715509,-4.54487820765e-05,1793250300545600256
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.694627436,745,720,684,669,640,885.389254872,788,817.694627436,654,630.305372564,656,0.404812786949,0.00461455229014,0.0497875353864,0.999999922592,0.000136505532508,-0.000366154607511,-4.59756236048e-05,1793250300562267136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.731339977,745,719.731339977,684,669.268660023,640,885.731339977,787.731339977,817.731339977,654,630,656,0.404465330299,0.00461639591016,0.049815075816,0.999999936836,0.000140352579282,-0.000323289253103,-4.59678343637e-05,1793250300578933760
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770.157613177,745,719.157613177,684,669.842386823,640,885.157613177,787.157613177,817.157613177,654,630,656,0.404141070393,0.00461659159608,0.0498466529873,0.999999950246,0.000142536869994,-0.0002777290505,-4.53529652414e-05,1793250300595600384
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,745.430995861,719,684,669.569004139,640,884.569004139,787,817,654,630.430995861,656,0.403822387452,0.0046174339216,0.0498570662784,0.999999953809,0.000144341902022,-0.000263551131606,-4.56907429233e-05,1793250300612266752
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.024442756,745.975557244,719,683.975557244,669,640.024442756,884,787.024442756,817,654,630.975557244,656,0.403505944245,0.00461856851947,0.0498586643477,0.999999953742,0.000146073654997,-0.000262729724044,-4.63949288087e-05,1793250300628933376
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.823784436,745,719,683,669,641,884,787.823784436,817,654,630.176215564,656,0.402893774143,0.00462188240996,0.0498266376024,0.999999934744,0.000150183527305,-0.000325031198691,-4.8076392238e-05,1793250300662266880
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.245372919,745,719,683,669,641,884,787.245372919,817,654,630.754627081,656,0.402629359405,0.0046205074458,0.0498128339884,0.9999999271,0.000145208987905,-0.00034973759653,-4.89782627702e-05,1793250300678933504
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,745,719.339864756,683,669,640.660135244,884.339864756,787.339864756,817,654.339864756,631,656,0.402398191977,0.00461938534053,0.0498057372315,0.999999925048,0.000125629075349,-0.000362805818641,-4.99340032479e-05,1793250300695599872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,745,719.930131803,683,669,640.069868197,884.930131803,787.930131803,817,654.930131803,631,656,0.402191520156,0.00461844953406,0.049803581887,0.999999926709,9.52883556794e-05,-0.000367299379851,-5.09294335803e-05,1793250300712266496
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745.510448418,720,683,669.510448418,640,885,788,817,654.489551582,630.489551582,656,0.402023924901,0.00460296908421,0.0498086663532,0.999999935527,4.26316211391e-05,-0.000352899838929,-5.08940968113e-05,1793250300728933120
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.088832669,746,720,683,669.911167331,640.088832669,884.911167331,787.911167331,817,654.088832669,630.088832669,656,0.401866239059,0.00458642182657,0.049815004659,0.999999942405,3.69071838437e-06,-0.000335934071831,-4.82235001419e-05,1793250300745599744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.663952172,746,720,683,669.336047828,640.663952172,884.336047828,787.336047828,817,654.663952172,630.663952172,656,0.401734079481,0.00457472436849,0.0498228857601,0.999999947092,5.6234204422e-05,-0.000318805947633,-3.18845642961e-05,1793250300762267136
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770.760349333,746,720,683,669,640.760349333,884.239650667,787.239650667,817,655,630.760349333,656,0.401612566448,0.00457252985066,0.049829733706,0.999999948985,9.28289920423e-05,-0.000304729748922,-2.35218061616e-05,1793250300778934272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770.18383702,746,720,683,669,640.18383702,884.81616298,787.81616298,817,655,630.18383702,656,0.401506018589,0.00458369301012,0.0498351294108,0.999999950431,0.000107005709292,-0.000294943449211,-2.63706530392e-05,1793250300795600896
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.401025948,745.598974052,719.598974052,683,669,640.401025948,885,788,817,654.598974052,630,656,0.401412874973,0.00458362962747,0.0498361126812,0.999999951318,0.000106280049919,-0.000292119203963,-2.71239335251e-05,1793250300812267520
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,745.518424959,720,683,669.518424959,641,884,788,817,654,630,656,0.400988396409,0.00458598087873,0.0498421804738,0.999999957217,0.000108948820964,-0.000269651200872,-3.13736732513e-05,1793250301045600512
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,770.834218138,745.834218138,719.834218138,683,669,641,884.834218138,788,817,654,630.165781862,656,0.400985408989,0.00458632192524,0.0498438164781,0.999999958075,0.000106438381425,-0.000267409509115,-3.18352949263e-05,1793250301112267776
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770.579024028,745.579024028,720,683,669,640.579024028,884.579024028,788,817,654,630,656,0.400983734273,0.00458598894564,0.0498430390836,0.999999957638,0.000107379204058,-0.000268687190303,-3.16401855825e-05,1793250301128934144
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,640.012937355,884,788,817,654,630.012937355,656,0.400981957896,0.00458584295715,0.049842051021,0.999999957005,0.000108844449397,-0.000270464231484,-3.14904107564e-05,1793250301145600512
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,640.591900297,884,788,817,654,630.591900297,656,0.400981834732,0.00458581855104,0.0498423800289,0.99999995734,0.000108513381936,-0.00026932440152,-3.17742067217e-05,1793250301162266880
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,745,720,682.830405478,669,641,884,787.830405478,817,654.169594522,631,656,0.400981849766,0.00458626998378,0.0498426707146,0.999999957556,0.000108515774949,-0.000268496022699,-3.19636776201e-05,1793250301178933504
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,745,720,682.255741565,669,641,884,787.255741565,817,654.744258435,631,656,0.400982194878,0.00458785793765,0.0498428698698,0.999999957493,0.000109314624316,-0.00026841153192,-3.19278570425e-05,1793250301195599872
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,745,720,682,669,640.680436109,884.319563891,787.319563891,817,654.680436109,631,656,0.400983478414,0.00458757117262,0.0498436743455,0.999999957936,0.000109253719258,-0.000266794647237,-3.18209227569e-05,1793250301212266496
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,745,720,682,669,640.104616232,884.895383768,787.895383768,817,654.104616232,631,656,0.400985514465,0.00458578108391,0.0498449642233,0.999999958778,0.000108503383271,-0.000263948946907,-3.16569629016e-05,1793250301228933120
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,745,720,682,669,640.485267105,884.514732895,787.514732895,816.514732895,654,630.514732895,656,0.40098580246,0.0045856531017,0.0498451992588,0.999999958906,0.000107710154782,-0.000263811257799,-3.14512064696e-05,1793250301245600000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,745,720,682.075955939,669,641,884,787.075955939,816.075955939,654.075955939,630.075955939,656,0.400985695335,0.00458610864004,0.0498452147799,0.999999958897,0.000107045298741,-0.000264130188877,-3.13526534543e-05,1793250301262266880
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,745,720,682.651408508,669,641,884,787.651408508,816.651408508,654.651408508,630.651408508,656,0.400985542049,0.00458797476675,0.0498453268445,0.999999959016,0.000107287262107,-0.000263498143596,-3.20201090294e-05,1793250301278933760
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,641,884,787.774383217,817,654.774383217,631,656,0.400984810387,0.00458854436159,0.0498453738589,0.999999958994,0.000106882555966,-0.000263716007862,-3.22680660044e-05,1793250301295600640
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,745,720,683,669,641,884,787.202086817,817,654.202086817,631,656,0.400983190001,0.00458712172385,0.0498453209181,0.999999958753,0.000105484186474,-0.00026523983124,-3.18714273547e-05,1793250301312267008
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770.383653305,745,720,683,669,641,884.383653305,787.383653305,817,654,631,656,0.400982761852,0.00458706495371,0.0498451650877,0.999999958535,0.000107312262299,-0.000265329411103,-3.18540940203e-05,1793250301328933632
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770.976731935,745,720,683,669,641,884.976731935,787.976731935,817,654,631,656,0.400982984511,0.00458775377157,0.0498449530928,0.999999958321,0.000110901562074,-0.000264636078514,-3.20438125911e-05,1793250301345600256
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770.444646828,745.555353172,720,683,669.555353172,640.444646828,884.444646828,788,817,654,631,656,0.400984137841,0.00458756837118,0.0498460052474,0.999999958826,0.000108707395941,-0.000263624022416,-3.21541741223e-05,1793250301362267136
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f55e6660fb2ba8d90f6376d16c4aff270c382c2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+161,2.683333333,pose1_to_pose2_press,0.590944967246,0.0101501020936,1.04003324001,0.561515645032,0.0188227338403,1.03970463894
+162,2.700000000,pose1_to_pose2_press,0.591685883499,0.0101500088929,1.04003344285,0.562256562938,0.0188226462269,1.0397048412
+163,2.716666667,pose1_to_pose2_press,0.592435379408,0.0101500920977,1.04003361051,0.563006058528,0.0188227281808,1.0397050044
+164,2.733333333,pose1_to_pose2_press,0.593196180629,0.010150142348,1.04003339131,0.563766859403,0.0188227773878,1.03970478858
+165,2.750000000,pose1_to_pose2_press,0.593968880745,0.0101501175121,1.04003332778,0.564539559726,0.0188227535091,1.03970473179
+166,2.766666667,pose1_to_pose2_press,0.594746605806,0.0101500353757,1.04003331533,0.565317286061,0.0188226754961,1.03970471404
+167,2.783333333,pose1_to_pose2_press,0.595529268198,0.0101501320219,1.04003351417,0.566099947435,0.0188227685684,1.03970490977
+168,2.800000000,pose1_to_pose2_press,0.596303058978,0.0101502140011,1.04003352599,0.56687373729,0.0188228475254,1.03970492472
+169,2.816666667,pose1_to_pose2_press,0.597071652012,0.0101502238407,1.04003376807,0.567642328887,0.0188228522082,1.03970515946
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+171,2.850000000,pose1_to_pose2_press,0.598620058136,0.010150099372,1.04003345819,0.569190736606,0.0188227335955,1.03970486133
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+174,2.900000000,pose1_to_pose2_press,0.600962360851,0.0101501354189,1.0400337244,0.571533039209,0.0188227687075,1.03970511301
+175,2.916666667,pose1_to_pose2_press,0.6017463727,0.0101500880916,1.04003372601,0.572317052265,0.0188227255246,1.03970511595
+176,2.933333333,pose1_to_pose2_press,0.602526297726,0.0101500548904,1.04003359497,0.573096977173,0.0188226921016,1.03970498979
+177,2.950000000,pose1_to_pose2_press,0.603295394592,0.0101500452686,1.04003356544,0.573866073515,0.0188226805959,1.0397049575
+178,2.966666667,pose1_to_pose2_press,0.604057950608,0.0101499994345,1.04003364163,0.57462862949,0.0188226344079,1.03970502808
+179,2.983333333,pose1_to_pose2_press,0.604812958093,0.0101500128874,1.04003353247,0.575383638435,0.0188226528171,1.03970491907
+180,3.000000000,pose1_to_pose2_press,0.605563231721,0.0101499911767,1.04003339039,0.576133911051,0.0188226280892,1.03970478814
+181,3.016666667,pose1_to_pose2_press,0.606308379148,0.0101502010193,1.040033442,0.576879058139,0.0188228373675,1.03970485531
+182,3.033333333,pose1_to_pose2_press,0.607036256169,0.0101500556754,1.04003375944,0.577606934337,0.0188226883773,1.03970515034
+183,3.050000000,pose1_to_pose2_press,0.60775382948,0.0101501225564,1.04003367613,0.57832450815,0.0188227569245,1.03970506611
+184,3.066666667,pose1_to_pose2_press,0.60846728603,0.0101501245293,1.04003346393,0.57903796274,0.0188227522351,1.03970485384
+185,3.083333333,pose1_to_pose2_press,0.609162058122,0.0101502110557,1.04003338187,0.579732733736,0.0188228353291,1.03970477937
+186,3.100000000,pose1_to_pose2_press,0.609838369387,0.0101501738915,1.04003347315,0.58040904668,0.018822803795,1.03970486898
+187,3.116666667,pose1_to_pose2_press,0.610492452848,0.010150065283,1.04003351619,0.581063132581,0.018822703431,1.03970491121
+188,3.133333333,pose1_to_pose2_press,0.611120812356,0.0101500821438,1.04003363987,0.581691492459,0.0188227214846,1.03970503339
+189,3.150000000,pose1_to_pose2_press,0.611718266733,0.0101502295427,1.04003365385,0.582288944524,0.0188228608409,1.03970504292
+190,3.166666667,pose1_to_pose2_press,0.612295629691,0.0101502864924,1.04003350122,0.582866305807,0.0188229119543,1.03970488739
+191,3.183333333,pose1_to_pose2_press,0.612858987216,0.0101500688206,1.04003368759,0.583429666429,0.0188227048539,1.03970507536
+192,3.200000000,pose1_to_pose2_press,0.613411780489,0.0101499960788,1.04003372204,0.583982460243,0.0188226344101,1.03970512171
+193,3.216666667,pose1_to_pose2_press,0.613951027982,0.010150009045,1.04003340986,0.584521706943,0.0188226446683,1.03970480728
+194,3.233333333,pose1_to_pose2_press,0.61447278924,0.010150090591,1.04003360934,0.585043468046,0.0188227255956,1.03970500233
+195,3.250000000,pose1_to_pose2_press,0.61497116247,0.0101500327107,1.04003366961,0.585541842356,0.0188226712557,1.03970505649
+196,3.266666667,pose1_to_pose2_press,0.615440629761,0.0101501496357,1.04003365463,0.586011307227,0.0188227802225,1.03970504494
+197,3.283333333,pose1_to_pose2_press,0.615898394605,0.0101501593066,1.04003363165,0.586469072733,0.0188227924899,1.03970502877
+198,3.300000000,pose1_to_pose2_press,0.61634854468,0.0101500814298,1.04003358398,0.586919224116,0.0188227191681,1.03970498051
+199,3.316666667,pose1_to_pose2_press,0.616781787833,0.0101500683174,1.04003347831,0.587352466607,0.0188227038784,1.03970487219
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+202,3.366666667,pose1_to_pose2_press,0.61793306324,0.010150146967,1.04003377331,0.588503740901,0.0188227788451,1.03970515789
+203,3.383333333,pose1_to_pose2_press,0.618254753354,0.0101500972637,1.04003352688,0.588825431707,0.018822731971,1.03970492104
+204,3.400000000,pose1_to_pose2_press,0.618561328481,0.0101501122742,1.04003339026,0.589132007436,0.0188227493681,1.03970479054
+205,3.416666667,pose1_to_pose2_press,0.618856500587,0.0101501499493,1.04003346823,0.589427177908,0.0188227815332,1.03970486684
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+207,3.450000000,pose1_to_pose2_press,0.61941561651,0.010150155657,1.04003361329,0.589986293395,0.0188227856409,1.03970500266
+208,3.466666667,pose1_to_pose2_press,0.619671894441,0.0101501871971,1.04003357571,0.590242571409,0.0188228177142,1.03970496923
+209,3.483333333,pose1_to_pose2_press,0.619905104131,0.0101500769375,1.04003351391,0.590475782287,0.0188227116138,1.03970490868
+210,3.500000000,pose1_to_pose2_press,0.620112809508,0.0101500299903,1.04003352668,0.590683488989,0.0188226691461,1.03970491891
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+221,3.683333333,pose1_to_pose2_press,0.621345383295,0.0101501324839,1.04003337855,0.591916059496,0.0188227613751,1.03970478229
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+228,3.800000000,pose1_to_pose2_press,0.621529181947,0.0101500322892,1.04003352855,0.592099859718,0.0188226662086,1.03970491942
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+237,3.950000000,pose1_to_pose2_press,0.621547734362,0.0101501528426,1.0400332984,0.592118412801,0.0188227894245,1.03970469962
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+240,4.000000000,pose1_to_pose2_press,0.621548631096,0.0101501190941,1.04003352227,0.59211930912,0.018822753881,1.03970491273
+241,4.016666667,pose1_to_pose2_press,0.621548792017,0.0101501038922,1.04003360191,0.592119469911,0.0188227381325,1.03970498934
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+265,4.416666667,pose2_to_pose3_retreat,0.621549346163,0.0101501063601,1.0400334425,0.592120024146,0.0188227407733,1.03970482682
+266,4.433333333,pose2_to_pose3_retreat,0.621549346405,0.0101501157391,1.04003344972,0.592120024189,0.0188227494909,1.0397048343
+267,4.450000000,pose2_to_pose3_retreat,0.621549348197,0.0101501854676,1.04003350343,0.592120024511,0.0188228143021,1.03970488995
+268,4.466666667,pose2_to_pose3_retreat,0.621549306095,0.0101502202926,1.04003352648,0.592119981595,0.0188228464697,1.03970491566
+269,4.483333333,pose2_to_pose3_retreat,0.621549120657,0.0101501444872,1.04003345199,0.592119797422,0.0188227751503,1.0397048463
+270,4.500000000,pose2_to_pose3_retreat,0.621549017614,0.0101501023641,1.0400334106,0.592119695081,0.01882273552,1.03970480776
+271,4.516666667,pose2_to_pose3_retreat,0.621548298989,0.0101500842876,1.04003339369,0.592118976468,0.018822717399,1.0397047886
+272,4.533333333,pose2_to_pose3_retreat,0.621545726691,0.0101501779479,1.04003351672,0.592116403743,0.0188228094503,1.03970490783
+273,4.550000000,pose2_to_pose3_retreat,0.621539620611,0.0101501715495,1.04003340216,0.592110297041,0.0188228010822,1.03970479663
+274,4.566666667,pose2_to_pose3_retreat,0.621527531145,0.0101501846428,1.04003342734,0.592098209447,0.0188228207087,1.0397048276
+275,4.583333333,pose2_to_pose3_retreat,0.621507864103,0.0101501870479,1.04003331449,0.59207854122,0.018822819099,1.03970471539
+276,4.600000000,pose2_to_pose3_retreat,0.621478070761,0.0101501163988,1.04003365124,0.592048749098,0.018822752188,1.03970504365
+277,4.616666667,pose2_to_pose3_retreat,0.62143842665,0.0101501450879,1.0400335816,0.592009106509,0.0188227863042,1.03970498328
+278,4.633333333,pose2_to_pose3_retreat,0.621389986971,0.0101501342723,1.04003354649,0.591960665498,0.0188227709463,1.03970494224
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+396,6.600000000,pose2_to_pose3_retreat,0.575667530793,0.0101502131331,1.0400335464,0.546238208481,0.0188228441605,1.03970493844
+397,6.616666667,pose2_to_pose3_retreat,0.575667111904,0.0101502174084,1.0400334938,0.546237789457,0.018822848001,1.03970488652
+398,6.633333333,pose2_to_pose3_retreat,0.575667078559,0.0101502177488,1.04003348961,0.5462377561,0.0188228483067,1.03970488239
+399,6.650000000,pose2_to_pose3_retreat,0.575666615038,0.0101502224796,1.04003343141,0.54623729243,0.0188228525565,1.03970482494
+400,6.666666667,pose2_to_pose3_retreat,0.575666118725,0.0101501848273,1.04003337085,0.546236796768,0.0188228172286,1.0397047674
+401,6.683333333,pose2_to_pose3_retreat,0.575665645792,0.0101501316107,1.04003331386,0.546236324786,0.0188227673793,1.03970471419
+402,6.700000000,pose2_to_pose3_retreat,0.575665234153,0.0101500852912,1.04003326425,0.546235913973,0.0188227239906,1.03970466787
+403,6.716666667,pose2_to_pose3_retreat,0.575665070345,0.0101500668587,1.04003324451,0.546235750495,0.0188227067245,1.03970464944
+404,6.733333333,pose2_to_pose3_retreat,0.575664821724,0.0101500567505,1.04003324337,0.546235501881,0.0188226966486,1.03970464842
+405,6.750000000,pose2_to_pose3_retreat,0.575664591994,0.0101501000834,1.04003332725,0.546235270711,0.0188227348882,1.03970472693
+406,6.766666667,pose2_to_pose3_retreat,0.575664399145,0.0101501272105,1.04003342855,0.546235076819,0.0188227582563,1.03970482243
+407,6.783333333,pose2_to_pose3_retreat,0.575664349794,0.0101500926528,1.04003359304,0.546235027948,0.0188227250554,1.03970497967
+408,6.800000000,pose2_to_pose3_retreat,0.575664326157,0.0101500761013,1.04003367182,0.546235004542,0.0188227091538,1.03970505498
+409,6.816666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..198ad9ab3eb294ce37fe129fa6ab905c06ef6511
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1558616114f67aaa9c54553fbfcf9b11ed76396a2c6b756f4ad77da632fe1a98
+size 26233239
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11377c46864f27e051918946c127312ff3d1185b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,414 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,770,746,719,682,669,641,885,788,817,654,631,656,0.400982130032,0.00458376462745,0.0498459598838,0.999999959356,0.00010539493945,-0.000263081440036,-3.10985952353e-05,1793250301518986496
+1,0.016666667,BASELINE,770,745.41359223,719.58640777,682.58640777,669,641,884.41359223,788,817,654.58640777,631,656,0.400983866814,0.00458487856404,0.0498470012896,0.999999959873,0.000105007953777,-0.000261230570139,-3.14137519812e-05,1793250301535652864
+2,0.033333333,BASELINE,770,745.171332902,720,683,669,641,884,788,817,655,631,656,0.400985069163,0.00458610468967,0.0498477510255,0.999999960146,0.000105531248686,-0.000259930419522,-3.17345057893e-05,1793250301552319232
+3,0.050000000,BASELINE,770,745.752709821,720,683,669,641,884,788,817,655,631,656,0.400984992474,0.00458759931295,0.0498478027202,0.999999959842,0.000108233080737,-0.000259948282419,-3.20686548808e-05,1793250301568985344
+4,0.066666667,BASELINE,770,745.670712523,720,683,669,641,884.329287477,788,817,654.670712523,631,656,0.400984599053,0.00458749042386,0.0498472837202,0.999999959619,0.000108459948158,-0.000260714262908,-3.20429092004e-05,1793250301585651712
+5,0.083333333,BASELINE,770,745.097687303,720,683,669,641,884.902312697,788,817,654.097687303,631,656,0.400983971189,0.00458619461897,0.0498463422935,0.999999959456,0.000106854852972,-0.000262033998112,-3.1750770317e-05,1793250301602318080
+6,0.100000000,BASELINE,770,745.47758707,720,683,669,641,885,788,817,654,630.52241293,656,0.4009852516,0.00458534778542,0.0498467652056,0.999999960071,0.000105009786411,-0.000260439023254,-3.16625540618e-05,1793250301618984448
+7,0.116666667,BASELINE,770.054911,745.945089,720,683,669,641,885,788,817,654,630.054911,656,0.400986557181,0.00458466563044,0.0498473452043,0.999999960679,0.000103512952517,-0.000258705903602,-3.16071408214e-05,1793250301635651328
+8,0.133333333,BASELINE,770.647786062,745.352213938,720,683,669,641,885,788,817,654,630.647786062,656,0.400984267225,0.00458469287644,0.0498467172273,0.999999959709,0.00010591091814,-0.000261487847454,-3.14625219506e-05,1793250301652317952
+9,0.150000000,BASELINE,770.765239952,745.234760048,720,683,669,641,885,787.765239952,817,654,631,656,0.400983714493,0.00458517802628,0.0498467357042,0.999999959438,0.000107131057979,-0.000262013604465,-3.15643802748e-05,1793250301668984832
+10,0.166666667,BASELINE,770.186902397,745.813097603,720,683,669,641,885,787.186902397,817,654,631,656,0.400985704232,0.00458633333043,0.0498477002835,0.9999999602,0.000106627418581,-0.00025923737243,-3.20269644718e-05,1793250301685651456
+11,0.183333333,BASELINE,770,746,719.612258841,683.387741159,669,640.612258841,885,787.387741159,817,654.387741159,630.612258841,656,0.40098535452,0.00458597108173,0.0498472848971,0.999999960202,0.00010550559305,-0.000259689581976,-3.20218284774e-05,1793250301702318336
+12,0.200000000,BASELINE,770,746,719.039379046,683.960620954,669,640.039379046,885,787.960620954,817,654.960620954,630.039379046,656,0.400983887765,0.00458488423204,0.049846210605,0.999999959838,0.000104088595976,-0.000261683307464,-3.17933655011e-05,1793250301718984960
+13,0.216666667,BASELINE,770,746,719.546914187,683.453085813,669,640.546914187,885,788,817,654.453085813,630,656,0.400984764775,0.00458563228937,0.0498465485849,0.999999960373,0.000103952643615,-0.000259667007279,-3.19367699347e-05,1793250301735651584
+14,0.233333333,BASELINE,770.132771398,745.867228602,720,683,669,641,885,788,817,654.132771398,630.132771398,656,0.400985373445,0.00458621920693,0.0498468053591,0.999999960702,0.00010413918536,-0.000258316413262,-3.19965306817e-05,1793250301752318208
+15,0.250000000,BASELINE,770.71381387,745.28618613,720,683,669,641,885,788,817,654.71381387,630.71381387,656,0.400984492038,0.00458580479648,0.0498464360082,0.99999996012,0.000105095302013,-0.00026021275784,-3.16812151777e-05,1793250301768984576
+16,0.266666667,BASELINE,770.707591579,745,719.707591579,683,669,640.707591579,884.707591579,788,817,654.707591579,631,656,0.400983444708,0.00458584565258,0.0498465574309,0.999999959712,0.000105632259825,-0.000261563705638,-3.16614988481e-05,1793250301785651456
+17,0.283333333,BASELINE,770.131373001,745,719.131373001,683,669,640.131373001,884.131373001,788,817,654.131373001,631,656,0.400982236333,0.00458632838816,0.0498471551961,0.999999959474,0.000105762384095,-0.00026238529393,-3.1928689623e-05,1793250301802317824
+18,0.300000000,BASELINE,770,745,719.443757153,683,669,640.443757153,884,788,817,654.443757153,631,656,0.400983235458,0.00458561069095,0.0498477006318,0.999999959898,0.000104523413668,-0.000261288007511,-3.17264396461e-05,1793250301818984704
+19,0.316666667,BASELINE,770.019044407,745,719.980955593,683,669.019044407,641,884,788,817,654.980955593,630.980955593,656,0.400984837935,0.00458464783679,0.0498482212714,0.999999960492,0.000103038619572,-0.000259638944883,-3.14050174277e-05,1793250301835651584
+20,0.333333333,BASELINE,770.608669125,745,719.391330875,683,669.608669125,641,884,788,817,654.391330875,630.391330875,656,0.400984985154,0.00458696140802,0.0498484620157,0.999999960454,0.000106302599304,-0.000258436624732,-3.16667547518e-05,1793250301852318208
+21,0.350000000,BASELINE,770.805275551,745,719.194724449,683,669.805275551,641,884,788.194724449,817,654,630.194724449,656,0.400985080777,0.00458763508625,0.0498485068578,0.999999960489,0.000107209282005,-0.000257909284564,-3.17877235811e-05,1793250301868984832
+22,0.366666667,BASELINE,770.226264457,745,719.773735543,683,669.226264457,641,884,788.773735543,817,654,630.773735543,656,0.400985074576,0.00458507245271,0.0498481650891,0.999999960681,0.000103463863522,-0.000258714010414,-3.16308872418e-05,1793250301885651200
+23,0.383333333,BASELINE,770,745.350566177,720,683,669.350566177,641,884,788.649433823,817,654,631,656,0.400984989275,0.0045850964405,0.0498478323115,0.999999960549,0.000103722610731,-0.000259099556321,-3.17946698615e-05,1793250301902318080
+24,0.400000000,BASELINE,770,745.925998241,720,683,669.925998241,641,884,788.074001759,817,654,631,656,0.400984853236,0.00458677958097,0.0498475053011,0.99999996021,0.000106549774981,-0.000259216225058,-3.21641091196e-05,1793250301918984704
+25,0.416666667,BASELINE,770,745.500018005,720,682.500018005,670,641,884.499981995,788,817,654,631,656,0.400985378336,0.00458592607585,0.049847957477,0.999999960288,0.000106783293107,-0.000258842082219,-3.19651702232e-05,1793250301935651072
+26,0.433333333,BASELINE,770,745.076421238,720,682.076421238,670,641,884.923578762,788,817,654.076421238,631,656,0.400985875872,0.00458498372257,0.049848436802,0.999999960412,0.000106671482743,-0.000258441803018,-3.17106017795e-05,1793250301952318208
+27,0.450000000,BASELINE,770,745.67095741,720,682.67095741,670,641,884.32904259,788,817,654.67095741,631,656,0.40098552502,0.00458597707091,0.0498483205669,0.999999960421,0.000106813541082,-0.000258355413118,-3.16475771313e-05,1793250301968985088
+28,0.466666667,BASELINE,770,745.742863213,720,683,670,641,884.257136787,787.742863213,817,654.742863213,631,656,0.400985556935,0.00458673924092,0.0498484068813,0.999999960497,0.000106296706767,-0.000258273898808,-3.16505327952e-05,1793250301985651968
+29,0.483333333,BASELINE,770,745.167040963,720,683,670,641,884.832959037,787.167040963,817,654.167040963,631,656,0.400986063236,0.00458721489732,0.0498487442278,0.999999960655,0.000104963266182,-0.000258198427121,-3.17352619288e-05,1793250302002318592
+30,0.500000000,BASELINE,770,745.408852232,720,683,669.591147768,641,885,787.408852232,817,654,631,656,0.400985560576,0.00458668994759,0.0498482486995,0.999999960453,0.00010539055671,-0.000258796559918,-3.17950679325e-05,1793250302018984704
+31,0.516666667,BASELINE,770,745.984774403,720,683,669.015225597,641,885,787.984774403,817,654,631,656,0.400984645623,0.00458575611856,0.0498474128321,0.999999960104,0.000106537337631,-0.000259669948791,-3.18446895558e-05,1793250302035650816
+32,0.533333333,BASELINE,770,746,720,683,669,641,885,788,817,654,630.426613286,656,0.400984940262,0.00458521007604,0.0498478310844,0.999999960347,0.000105589056877,-0.000259147519946,-3.16061516482e-05,1793250302052317696
+33,0.550000000,BASELINE,770,745.841199736,720,683,669.158800264,641,885,788,817,654,630,656,0.400984926982,0.00458525686221,0.0498482238407,0.999999960468,0.000105226400199,-0.000258840185289,-3.15216382978e-05,1793250302068984320
+34,0.566666667,BASELINE,770,745.265097662,720,683,669.734902338,641,885,788,817,654,630,656,0.400984018223,0.00458683383605,0.0498484601055,0.999999960224,0.000106552170892,-0.000259197687407,-3.18624396215e-05,1793250302085650688
+35,0.583333333,BASELINE,770.31124735,745.31124735,719.68875265,682.68875265,669.68875265,641,885,788,817,654,630,656,0.400983753081,0.00458642931299,0.0498484428725,0.999999960349,0.00010570298135,-0.000259063223793,-3.1861914668e-05,1793250302102317568
+36,0.600000000,BASELINE,770.887799505,745.887799505,719.112200495,682.112200495,669.112200495,641,885,788,817,654,630,656,0.400984036554,0.00458433577767,0.04984820956,0.999999960784,0.00010299987288,-0.00025850941248,-3.15704459059e-05,1793250302118984448
+37,0.616666667,BASELINE,771,746,719.462340264,682.462340264,669,641,884.537659736,787.537659736,817,654,630,656,0.400984193839,0.00458562854106,0.0498480525296,0.9999999606,0.000103994594555,-0.000258800247305,-3.17424713477e-05,1793250302135651072
+38,0.633333333,BASELINE,770.96237601,745.96237601,719.96237601,683,669.03762399,641,884,787.03762399,817,654,630.03762399,656,0.400984337059,0.00458742530197,0.0498479500537,0.999999960319,0.000105550717047,-0.000259223161167,-3.20024744489e-05,1793250302152317952
+39,0.650000000,BASELINE,770.368936174,745.368936174,719.368936174,683,669.631063826,641,884,787.631063826,817,654,630.631063826,656,0.400984722916,0.00458458000215,0.0498483812122,0.999999960836,0.000102200764483,-0.000258582258122,-3.1907696771e-05,1793250302168984320
+40,0.666666667,BASELINE,770,745.219151643,719.219151643,683,669.780848357,641,884,787.780848357,817,654.219151643,630.780848357,656,0.40098435673,0.00458318586846,0.0498482632574,0.999999960791,0.000101316960439,-0.000259130203662,-3.16875153687e-05,1793250302185650944
+41,0.683333333,BASELINE,770,745.798444231,719.798444231,683,669.201555769,641,884,787.201555769,817,654.798444231,630.201555769,656,0.400982754682,0.00458417649615,0.049847242922,0.999999959827,0.000104485880297,-0.000261631833211,-3.12612528537e-05,1793250302202317824
+42,0.700000000,BASELINE,770,746,720,683,669,641,884.373022676,787.373022676,817,655,630,656,0.400982739265,0.00458546971068,0.0498473810046,0.9999999598,0.00010540551802,-0.000261354342739,-3.13625215343e-05,1793250302218984448
+43,0.716666667,BASELINE,770,746,720,683,669,641,884.945085693,787.945085693,817,655,630,656,0.400983570456,0.00458692438182,0.049848137205,0.999999960276,0.000105124966181,-0.000259593947704,-3.17452744284e-05,1793250302235651328
+44,0.733333333,BASELINE,770,745.480184189,719.480184189,683,669.519815811,641,885,787.480184189,817,654.480184189,630.519815811,656,0.40098421289,0.00458527141924,0.0498483472797,0.999999960577,0.000103737524222,-0.000259009360359,-3.1605331595e-05,1793250302252317696
+45,0.750000000,BASELINE,770,745.098475776,719.098475776,683,669.901524224,641,885,787.098475776,817,654,631,656,0.400984860415,0.0045838169933,0.0498485076957,0.999999960837,0.000102547959007,-0.000258490389055,-3.15000631791e-05,1793250302268984576
+46,0.766666667,BASELINE,770,745.695600927,719.695600927,683,669.304399073,641,885,787.695600927,817,654,631,656,0.400985635221,0.00458503885196,0.0498487103049,0.999999960996,0.000102955547115,-0.000257671450435,-3.1851425664e-05,1793250302285651200
+47,0.783333333,BASELINE,770.281005457,745.718994543,720,682.718994543,669.281005457,641,884.718994543,788,817,654.281005457,631,656,0.400985567709,0.00458584176439,0.0498485580411,0.99999996091,0.000103504712887,-0.000257772325793,-3.1929773785e-05,1793250302302317824
+48,0.800000000,BASELINE,770.854222057,745.145777943,720,682.145777943,669.854222057,641,884.145777943,788,817,654.854222057,631,656,0.400984624289,0.00458620902437,0.0498480367531,0.999999960571,0.00010420110208,-0.000258829694548,-3.1724220562e-05,1793250302318984704
+49,0.816666667,BASELINE,770.57086788,745,719.57086788,682.42913212,669.57086788,641,884,788,817,654.57086788,631,656,0.400984766451,0.00458643941561,0.0498481608977,0.999999960633,0.000105013582508,-0.000258254038765,-3.181043865e-05,1793250302335651328
+50,0.833333333,BASELINE,770.00475402,745.00475402,719.00475402,683,669,641,884.00475402,788,817.00475402,654,631,656,0.400985281493,0.00458660529797,0.0498485093786,0.999999960831,0.000105837487449,-0.000257124585291,-3.19916004513e-05,1793250302352317696
+51,0.850000000,BASELINE,770.596973752,745.596973752,719.596973752,683,669,641,884.596973752,788,817.596973752,654,631,656,0.400986122959,0.00458456791142,0.0498493782762,0.999999961311,0.000103180561466,-0.000256383794484,-3.1608669757e-05,1793250302368984320
+52,0.866666667,BASELINE,770.815260527,745.815260527,720,682.815260527,669.184739473,641,884.815260527,788,818,654.184739473,631,656,0.400985829698,0.00458324475114,0.0498493862606,0.999999961331,0.000101779478413,-0.000256908099369,-3.12557138782e-05,1793250302385651200
+53,0.883333333,BASELINE,770.236982924,745.236982924,720,682.236982924,669.763017076,641,884.236982924,788,818,654.763017076,631,656,0.400983119205,0.00458344305938,0.0498475602993,0.999999960377,0.000103053633619,-0.000260127352943,-3.09666113645e-05,1793250302402317824
+54,0.900000000,BASELINE,770,745.339424963,720,682.339424963,669.660575037,641,884.339424963,788,818,655,631,656,0.400982399478,0.00458467811953,0.049847097691,0.999999959993,0.00010465737775,-0.000260928220657,-3.12523270828e-05,1793250302418984448
+55,0.916666667,BASELINE,770,745.914534563,720,682.914534563,669.085465437,641,884.914534563,788,818,655,631,656,0.400983062067,0.00458663306337,0.0498475817467,0.999999960007,0.00010648997667,-0.000260049847006,-3.19371761736e-05,1793250302435651072
+56,0.933333333,BASELINE,770,745.512336748,720,683,669,641,885,787.512336748,817.512336748,655,631,656,0.400984367349,0.00458652705006,0.0498480739334,0.999999960463,0.000105134192825,-0.000258839099593,-3.19710830996e-05,1793250302452317696
+57,0.950000000,BASELINE,770,745,720,683,669.062686202,641,885,787.062686202,817,654.937313798,631,656.062686202,0.400985691297,0.00458598760869,0.0498485499003,0.999999960952,0.000103402161003,-0.000257661185694,-3.1868053038e-05,1793250302468984320
+58,0.966666667,BASELINE,770,745,720,683,669.656695029,641,885,787.656695029,817,654.343304971,631,656.656695029,0.400986222641,0.00458482352523,0.0498488763605,0.999999961087,0.000103198095621,-0.000257253292322,-3.15673849097e-05,1793250302485650944
+59,0.983333333,BASELINE,770,745.243909749,720,683,669.756090251,641,884.756090251,788,817,654.243909749,631,656.756090251,0.400985769606,0.00458456460842,0.0498486228823,0.999999960984,0.000103159446712,-0.000257665855927,-3.16083628375e-05,1793250302502317568
+60,1.000000000,BASELINE,770,745.821820944,720,683,669.178179056,641,884.178179056,788,817,654.821820944,631,656.178179056,0.400983968598,0.00458554519488,0.0498475752571,0.999999960551,0.000103347313283,-0.000259201924448,-3.21171788335e-05,1793250302518984192
+61,1.016666667,BASELINE,770,745.603606,720,682.603606,669,641,884.396394,787.603606,817,654.603606,631,656,0.400984454262,0.00458499095987,0.0498482762771,0.999999960859,0.000102086003163,-0.00025852860931,-3.19816216945e-05,1793250302535650816
+62,1.033333333,BASELINE,770,745.030520941,720,682.030520941,669,641,884.969479059,787.030520941,817,654.030520941,631,656,0.4009859592,0.00458375258419,0.0498497567488,0.999999961493,0.000100178728246,-0.00025687047004,-3.15588377453e-05,1793250302552317696
+63,1.050000000,BASELINE,770.541603573,745.541603573,720,682.541603573,669.541603573,641,884.458396427,787,817,654,631,656,0.400986905715,0.00458287661396,0.0498499585424,0.99999996182,9.96430906154e-05,-0.00025582349192,-3.13838443712e-05,1793250302568984576
+64,1.066666667,BASELINE,770.881367058,746,720,683,670,641,884,787.118632942,817,654.118632942,631,656,0.400987556137,0.00458228224785,0.049850031259,0.999999962005,9.96820361539e-05,-0.000255101459357,-3.12602660165e-05,1793250302585650944
+65,1.083333333,BASELINE,770.284340743,746,720,683,670,641,884,787.715659257,817,654.715659257,631,656,0.400987139219,0.00458274125531,0.0498498735262,0.999999961683,0.000101726870289,-0.000255551148272,-3.12878116199e-05,1793250302602317568
+66,1.100000000,BASELINE,770,746,720,683,669.697371674,641,884,788,817,654.697371674,631,656,0.400987129858,0.00458297178374,0.049850027156,0.999999961705,0.000102281761702,-0.000255219715614,-3.14744666327e-05,1793250302618984192
+67,1.116666667,BASELINE,770,746,720,683,669.119548197,641,884,788,817,654.119548197,631,656,0.400987491109,0.00458299454467,0.0498504639234,0.999999962042,0.000101481773177,-0.000254177969815,-3.18058078292e-05,1793250302635651072
+68,1.133333333,BASELINE,770.453782895,746,720,683,669,641,884.453782895,788,817,654,631,656,0.400986471483,0.00458361427825,0.0498500830495,0.999999961715,0.000103000280338,-0.000254857218185,-3.17496612379e-05,1793250302652317952
+69,1.150000000,BASELINE,770.973922826,745.973922826,720,683,669.026077174,641,884.973922826,788,817,654,631,656,0.400985176273,0.00458437527539,0.0498495273465,0.999999961232,0.000105034225974,-0.000255939258303,-3.15968976374e-05,1793250302668984832
+70,1.166666667,BASELINE,770.398785005,745.398785005,720,683,669.601214995,641,884.398785005,788,817,654,631,656,0.400985663169,0.00458483168674,0.049849781537,0.99999996119,0.000105186315966,-0.000256049467578,-3.15381495295e-05,1793250302685651200
+71,1.183333333,BASELINE,770,745,720,682.8172338,669.8172338,641,884,788,817.1827662,654,631,656,0.400985934792,0.00458486371817,0.0498497273852,0.999999961151,0.000104591671722,-0.00025644693507,-3.1528437679e-05,1793250302702317824
+72,1.200000000,BASELINE,770,745,720,682.221179951,669.221179951,641,884,788,817.778820049,654,631,656,0.400985719618,0.00458393610296,0.0498489759816,0.999999961115,0.000102308443746,-0.00025749397714,-3.16296110877e-05,1793250302718984448
+73,1.216666667,BASELINE,770,745.361734277,720,682.361734277,669.361734277,641,884.361734277,788,817.638265723,654.361734277,631,656,0.400985955887,0.00458447265772,0.0498494308286,0.999999961228,0.000102589516615,-0.00025692401589,-3.17852022494e-05,1793250302735651072
+74,1.233333333,BASELINE,770,745.93689594,720,682.93689594,669.93689594,641,884.93689594,788,817.06310406,654.93689594,631,656,0.400986458513,0.00458587308967,0.0498505973773,0.999999961426,0.000104383556633,-0.000255400004005,-3.19729005055e-05,1793250302752317696
+75,1.250000000,BASELINE,770,746,720,683,670,641,884.475490182,788,817,655,631,656,0.400985620267,0.00458670870461,0.0498497855209,0.999999961135,0.000105297679644,-0.000256136968682,-3.2188782419e-05,1793250302768984320
+76,1.266666667,BASELINE,770,746,720,682.888542893,669.888542893,641,884.111457107,788,817,655,631,656,0.400984840312,0.00458696958752,0.0498488248545,0.999999960889,0.000105481863539,-0.000257005999321,-3.2310831582e-05,1793250302785650944
+77,1.283333333,BASELINE,770,746,720,682.310804156,669.310804156,641,884.689195844,788,817,655,631,656,0.400984995514,0.00458511727163,0.049848261626,0.999999961084,0.000103065991548,-0.000257261860298,-3.20258003754e-05,1793250302802317312
+78,1.300000000,BASELINE,770,746,720,682.258068031,669.258068031,641,884.741931969,788,817,654.741931969,631,656,0.400984981031,0.00458469436921,0.0498481932838,0.999999961062,0.000102529962555,-0.000257576276064,-3.19076064294e-05,1793250302818984192
+79,1.316666667,BASELINE,770,746,720,682.816616449,669.816616449,641,884.183383551,788,817,654.183383551,631,656,0.400984768976,0.00458593579828,0.0498487011603,0.99999996079,0.000104182720733,-0.000257958869826,-3.19836687412e-05,1793250302835651072
+80,1.333333333,BASELINE,770.399266966,745.600733034,720,683,670,641,884,787.600733034,817.399266966,654,631,656,0.400986366468,0.00458621911491,0.0498498809552,0.999999961168,0.000105077225847,-0.000256151649247,-3.17560678446e-05,1793250302852317696
+81,1.350000000,BASELINE,770.993698832,745.006301168,720,683,670,641,884,787.006301168,817.993698832,654,631,656,0.400988848481,0.0045860340986,0.0498513891892,0.999999961858,0.000105601090918,-0.000253274029855,-3.13800339386e-05,1793250302868984320
+82,1.366666667,BASELINE,770.416234575,745.583765425,720,683,670,641,884.583765425,787,817.416234575,654.583765425,631,656,0.400987331423,0.00458525078078,0.0498503197157,0.999999961674,0.000104503644053,-0.000254409883218,-3.17292490084e-05,1793250302885650944
+83,1.383333333,BASELINE,770,745.829409088,720,682.829409088,669.829409088,641,884.829409088,787.170590912,817,654.829409088,631,656.170590912,0.40098624656,0.00458503740151,0.0498495456028,0.999999961443,0.0001040748914,-0.000255449716897,-3.20588024216e-05,1793250302902317568
+84,1.400000000,BASELINE,770,745.25023427,720,682.25023427,669.25023427,641,884.25023427,787.74976573,817,654.25023427,631,656.74976573,0.400986299468,0.0045862044403,0.0498495450569,0.999999961127,0.000105289338737,-0.00025615658368,-3.23226535171e-05,1793250302918984192
+85,1.416666667,BASELINE,770,745,720,682.324960203,669,641,884,788,817,654,631,656.675039797,0.400986396569,0.00458592367434,0.0498496401202,0.999999961153,0.000104704896857,-0.000256324994428,-3.20706455223e-05,1793250302935651072
+86,1.433333333,BASELINE,770,745,720,682.897126683,669,641,884,788,817,654,631,656.102873317,0.400986527287,0.00458454152292,0.0498498079159,0.999999961438,0.000102751989778,-0.00025608378663,-3.14262091341e-05,1793250302952317952
+87,1.450000000,BASELINE,770,745,719.526316231,682.526316231,669,641,884,787.526316231,817,654,631,656,0.400986024423,0.0045844835799,0.0498495375417,0.999999961357,0.00010315604126,-0.000256231064826,-3.14841525583e-05,1793250302968984320
+88,1.466666667,BASELINE,770,745,719.052397941,682,669,641,884,787.052397941,817,654,630.947602059,656,0.400985497657,0.00458490023372,0.0498492394664,0.999999961206,0.00010408706354,-0.000256414937481,-3.17186980595e-05,1793250302985650944
+89,1.483333333,BASELINE,770,745,719.643391643,682,669,641,884,787.643391643,817,654,630.356608357,656,0.400986152823,0.00458721148632,0.0498496439556,0.999999961163,0.000105124001261,-0.000256099611006,-3.21858978448e-05,1793250303002317568
+90,1.500000000,BASELINE,770,745.230101433,720,682.230101433,669.230101433,640.769898567,884.230101433,788,817.230101433,654.230101433,630.230101433,656,0.400986156189,0.00458790032429,0.0498496662374,0.999999961127,0.000105331017181,-0.0002561368759,-3.23399331619e-05,1793250303018984448
+91,1.516666667,BASELINE,770,745.810293361,720,682.810293361,669.810293361,640.189706639,884.810293361,788,817.810293361,654.810293361,630.810293361,656,0.400985167867,0.0045861207205,0.0498491070052,0.999999961101,0.000104275338859,-0.00025671059505,-3.20175007242e-05,1793250303035651840
+92,1.533333333,BASELINE,770,746,720,682.613227055,669.613227055,640.386772945,885,788,817.613227055,654.613227055,630.613227055,656,0.400984406887,0.00458506136743,0.0498487290657,0.999999961096,0.000102885581892,-0.000257308208471,-3.18697698909e-05,1793250303052318464
+93,1.550000000,BASELINE,770,746,720,682.038550961,669.038550961,640.961449039,885,788,817.038550961,654.038550961,630.038550961,656,0.400983756355,0.00458435192848,0.0498484392023,0.999999961099,0.00010133352178,-0.000257917430326,-3.18069130665e-05,1793250303068984576
+94,1.566666667,BASELINE,770,745.468303325,720,682,669,641,885,788,817,654.531696675,630.531696675,656,0.400983844864,0.00458644189253,0.0498482287236,0.999999960811,0.000103027182487,-0.000258302454931,-3.23004756592e-05,1793250303085651456
+95,1.583333333,BASELINE,770,745,720,682.106846812,669,641,884.893153188,788,817,654.893153188,631,656,0.400984229004,0.00458803113768,0.0498482273041,0.999999960633,0.000104711101037,-0.000258270428885,-3.26362048252e-05,1793250303102318080
+96,1.600000000,BASELINE,770,745,720,682.706055813,669,641,884.293944187,788,817,654.293944187,631,656,0.40098573056,0.00458638542111,0.0498491629482,0.999999961077,0.000105274644826,-0.000256390875081,-3.20602481215e-05,1793250303118984704
+97,1.616666667,BASELINE,770,745,720,682.708073987,669.291926013,641,884,787.708073987,817,654.291926013,630.708073987,656,0.400986483363,0.00458571044927,0.0498497900323,0.999999961322,0.0001056875676,-0.00025529135791,-3.18274434667e-05,1793250303135651328
+98,1.633333333,BASELINE,770,745,720,682.13504796,669.86495204,641,884,787.13504796,817,654.86495204,630.13504796,656,0.400986515179,0.00458597022244,0.0498501199994,0.999999961379,0.000105955455066,-0.000254942950037,-3.19250651936e-05,1793250303152317952
+99,1.650000000,BASELINE,770,745,720,682.440508149,669.559491851,641,884.440508149,787.440508149,817,654.559491851,630.440508149,656,0.400986538571,0.00458533665848,0.0498501638527,0.999999961574,0.000104429359851,-0.000254824824868,-3.17875148554e-05,1793250303168984832
+100,1.666666667,BASELINE,770,745,720,682.982717342,669,640.982717342,884.982717342,788,817,654.017282658,631,656,0.40098652986,0.00458448925059,0.0498501005947,0.999999961791,0.000102428726003,-0.000254809986449,-3.1595266916e-05,1793250303185651456
+101,1.683333333,BASELINE,770,745,720,682.391385398,669,640.391385398,884.391385398,788,817,654.608614602,631,656,0.40098554115,0.00458568828257,0.0498494099015,0.999999961446,0.000103039659119,-0.000255867353441,-3.19947939499e-05,1793250303202317824
+102,1.700000000,BASELINE,770,745,720,682.1958749,669,640.1958749,884.1958749,788,817,654.8041251,630.8041251,656,0.400985401866,0.00458613458744,0.0498490738028,0.99999996132,0.000103346642568,-0.000256203213809,-3.22380539623e-05,1793250303218984448
+103,1.716666667,BASELINE,770,745,720,682.775165086,669,640.775165086,884.775165086,788,817,654.224834914,630.224834914,656,0.400986925288,0.00458510746662,0.049849431805,0.999999961627,0.00010305865973,-0.000255126761053,-3.21754290763e-05,1793250303235650816
+104,1.733333333,BASELINE,770,745.351807357,719.648192643,682.648192643,669,641,884.648192643,787.648192643,817,654,630.351807357,656,0.400985934304,0.00458460138828,0.0498487985251,0.999999961197,0.000103724619558,-0.000256567085071,-3.19602336956e-05,1793250303252317952
+105,1.750000000,BASELINE,770,745.926770081,719.073229919,682.073229919,669,641,884.073229919,787.073229919,817,654,630.926770081,656,0.400983348404,0.00458442581295,0.0498475364638,0.99999996029,0.000104995675932,-0.000259603828828,-3.1648261126e-05,1793250303268984832
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,885,788,817,655,631,656,0.400984082839,0.00458666499645,0.0498490753543,0.999999960707,0.000107285492979,-0.000257018012751,-3.18848413893e-05,1793250303301414656
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745.619822204,720,682.380177796,669.619822204,641,885,788,817,655,630.380177796,656,0.400986617107,0.00458559270684,0.0498503980471,0.999999961485,0.00010425472363,-0.000255248883772,-3.17562062749e-05,1793250303318081280
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745.776594379,720,682.223405621,669.776594379,641,884.776594379,787.776594379,817,654.776594379,630.223405621,656,0.400987250128,0.00458522081814,0.0498506362423,0.999999961754,0.000102694243851,-0.000254827491592,-3.17518460469e-05,1793250303334747648
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.198772484,720,682.801227516,669.198772484,641,884.198772484,787.198772484,817,654.198772484,630.801227516,656,0.400984866963,0.00458596006283,0.0498491539635,0.99999996123,0.000103466267815,-0.00025654418257,-3.19446385928e-05,1793250303351414272
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884.373880278,787.373880278,817,654,630.626119722,656,0.400984399459,0.00458547332391,0.049848967958,0.999999961143,0.000103657805496,-0.000256805790648,-3.19333471834e-05,1793250303368081152
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,884.943822326,787.943822326,817,654,630.056177674,656,0.400984936522,0.00458434368257,0.0498494617145,0.999999961287,0.000103544937748,-0.000256304357226,-3.18150347077e-05,1793250303384748032
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,745.519030908,719.480969092,683,669.519030908,641,884.480969092,788,817,654.519030908,630.519030908,656,0.400985896,0.00458372563562,0.0498500977557,0.999999961674,0.000102552111836,-0.00025521047955,-3.16640608024e-05,1793250303401414400
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,745.90175652,719.09824348,682.90175652,670,641,884,788,817,654.90175652,631,656,0.400986187945,0.00458370574457,0.0498503344503,0.999999961809,0.000102043877517,-0.000254888681371,-3.16299709167e-05,1793250303418081024
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,745.305154168,719.694845832,682.305154168,670,641,884,788,817,654.305154168,631,656,0.4009828594,0.00458643634554,0.0498484664608,0.999999960531,0.000104481917305,-0.000258812018117,-3.220691408e-05,1793250303434747648
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,745,719.717152919,682.282847081,670,641,884.282847081,788,817,654,631,656,0.400982596589,0.00458630778418,0.0498477783103,0.999999960108,0.00010406078509,-0.000260608011955,-3.22336018552e-05,1793250303451414272
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,745,719.138157293,682.861842707,670,641,884.861842707,788,817,654,631,656,0.400985543683,0.00458318560238,0.0498483254833,0.999999960587,0.000100646022302,-0.000260176619985,-3.168415732e-05,1793250303468080896
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,745,719,682.564222631,670,641,884.564222631,788,817,654,630.564222631,656,0.401004356008,0.00458287296497,0.0498558750185,0.999999964363,0.000100819570256,-0.000245185739771,-3.15099393288e-05,1793250303484748288
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,745,719.008413862,682.008413862,669.991586138,641,884,788,817,654,630.008413862,656.008413862,0.401028539001,0.00458343173048,0.0498657377649,0.999999968896,0.000102089897933,-0.000225379862863,-3.14498148892e-05,1793250303501415680
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745,719.601038705,682.601038705,669.398961295,641,884,788,817,654,630.601038705,656.601038705,0.40108039535,0.00458335870041,0.0498838418749,0.999999976686,0.000101430977757,-0.000188069656152,-3.11465864475e-05,1793250303518082048
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745,720,682.810787281,669.189212719,641,884,788,817,654,631,656.810787281,0.401139527803,0.00458383557626,0.0499022692748,0.999999982737,0.000101353426809,-0.000152659077707,-3.08043778522e-05,1793250303534748416
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,745,720,682.231782202,669.768217798,641,884,788,817,654,631,656.231782202,0.401213649585,0.00458544529941,0.0499213626795,0.999999986948,0.000102473540031,-0.000121161869144,-3.03818672219e-05,1793250303551415296
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,745.344040637,720,682,669.655959363,641,884.344040637,788,817,654,630.655959363,656,0.40129259718,0.00458382467253,0.0499342484195,0.999999989281,0.000101521383939,-0.000101366312804,-2.92537697451e-05,1793250303568082176
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,745.917739196,720,682,669.082260804,641,884.917739196,788,817,654,630.082260804,656,0.401374766153,0.00458004768552,0.0499429903474,0.999999990704,9.9185923015e-05,-8.93819784712e-05,-2.76546709415e-05,1793250303584748544
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,746,720,682.502985879,669,641,884.497014121,787.497014121,817,654,630,656,0.401466039608,0.00457909784308,0.0499454134184,0.999999991185,9.67652288676e-05,-8.692074059e-05,-2.66818470844e-05,1793250303601415168
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,884,787.089019713,817,654,630,656,0.401561923623,0.0045784669926,0.0499463748493,0.99999999147,9.41164972451e-05,-8.68083834903e-05,-2.58322568906e-05,1793250303618082048
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,746,720,683,669,641,884,787.668737255,817,654,630,656,0.401674821594,0.00457698594419,0.0499451096722,0.999999991482,9.02894120577e-05,-9.08568195224e-05,-2.50841069009e-05,1793250303634748672
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,745.752244622,720,682.752244622,669,641,884.247755378,787.752244622,817,654,630.247755378,656,0.401806970933,0.00457544055605,0.0499463100632,0.999999991693,8.8035023441e-05,-9.10300965072e-05,-2.40409186102e-05,1793250303651415040
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,745.174159077,720,682.174159077,669,641,884.825840923,787.174159077,817,654,630.825840923,656,0.40196478795,0.00457380938439,0.0499507977756,0.999999992182,8.78774982809e-05,-8.60366561084e-05,-2.26043582874e-05,1793250303668081664
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,745,720,682.402888803,669,641,885,787.402888803,817,654,630.597111197,656,0.402135944359,0.00457275141104,0.0499493420597,0.99999999203,8.61683752123e-05,-8.97670238005e-05,-2.13620802903e-05,1793250303684748032
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,745,720,682.979489328,669,641,885,787.979489328,817,654,630.020510672,656,0.402312852267,0.00457194058085,0.0499453237435,0.999999991556,8.37902567561e-05,-9.72587954745e-05,-2.02035699901e-05,1793250303701414656
+131,2.183333333,POSE1_TO_POSE2_PRESS,769.435134531,745,720,683,669,641,885,788,817,654,630.564865469,656,0.402522885311,0.00456985543709,0.0499473836533,0.999999992393,7.86445508564e-05,-9.31735600108e-05,-1.86695192659e-05,1793250303718081792
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.148846941,745,720,683,669,641,885,788,817,654,630.851153059,656,0.402744262497,0.00456760494734,0.0499495681144,0.999999993056,7.39963410854e-05,-9.01297374193e-05,-1.69837431516e-05,1793250303734748160
+133,2.216666667,POSE1_TO_POSE2_PRESS,769.727862521,745,720,683,669,641,885,788,817,654,630.272137479,656,0.402994893432,0.00456501244062,0.0499514646259,0.999999993192,7.10809060645e-05,-9.13296461323e-05,-1.48995097519e-05,1793250303751415040
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,885,788,817,654,630.306052483,656,0.403273829092,0.00456217654216,0.0499559090047,0.999999994051,6.80052781455e-05,-8.43207000542e-05,-1.27709992859e-05,1793250303768081920
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669,641,885,788,817,654,630.883510258,656,0.403577865176,0.00455912480568,0.0499626128152,0.999999995393,6.47875924015e-05,-7.00321964369e-05,-1.06032243371e-05,1793250303784748544
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,745,720,683,669.458433923,641,885,788,817,654,631,656,0.403925704664,0.00455591784004,0.0499736052228,0.999999996987,6.07919931489e-05,-4.76129538856e-05,-7.99826168261e-06,1793250303801414912
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,745,720,683,669.96645095,641,884.96645095,788,817,654,631,656,0.404285601409,0.00455260123098,0.0499853463585,0.999999998108,5.64723066377e-05,-2.37956050663e-05,-5.2979787686e-06,1793250303818081792
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,745,720,683,669.377566167,641,884.377566167,788,817,654,631,656,0.404661849915,0.00454811902975,0.0499915417696,0.999999998685,5.00420649591e-05,-1.08466949135e-05,-2.84863865388e-06,1793250303834748672
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,745.208853177,720,683.208853177,669.417706354,641,884.208853177,788,817,654,630.791146823,656,0.405051694408,0.00454422304222,0.0499936777984,0.99999999897,4.51199127864e-05,-4.88035527862e-06,-4.64533143407e-07,1793250303851415552
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745.790867421,720,683.790867421,670.581734843,641,884.790867421,788,817,654,630.209132579,656,0.405465831015,0.00454137445185,0.049988560868,0.999999999014,4.28922871984e-05,-1.13898793155e-05,1.80301646904e-06,1793250303868081920
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745.632015261,720,684,670.632015261,641,885,788,817,654,630.367984739,656,0.405884454124,0.00453656899703,0.0499718497057,0.999999998328,3.86364900399e-05,-4.27353156452e-05,4.93085098601e-06,1793250303884748544
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,745.057644357,720,684,670.057644357,641,885,788,817,654,630.942355643,656,0.406305593551,0.00453066602428,0.0499486358574,0.999999995538,3.32431819713e-05,-8.80101038519e-05,8.54118099666e-06,1793250303901415168
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,745,720,684,669.471655064,641,885,788,817,654,631,656,0.406780914957,0.0045269167996,0.0499315796977,0.999999992702,2.76576797624e-05,-0.000117035645377,1.15644374247e-05,1793250303918082048
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,745,720,684,669.113972746,641,885,788,817,654,631,656.113972746,0.40727887164,0.00452311087739,0.0499205738798,0.999999990673,2.17538886692e-05,-0.000134050972931,1.44982678737e-05,1793250303934748672
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,745,720,684,669.692839429,641,885,788,817,654,631,656.692839429,0.407844502662,0.00451809364539,0.0499314453635,0.999999993751,1.46392539432e-05,-0.000109470786156,1.73344729209e-05,1793250303951415296
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,745,719.728929014,684.271070986,670,641,885.271070986,788,817,654,631,656.728929014,0.408436705342,0.00451258039088,0.0499503100777,0.999999997153,5.70489296939e-06,-7.23614241322e-05,2.06177924835e-05,1793250303968081920
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,745,719.151415493,684.848584507,670,641,885.848584507,788,817,654,631,656.151415493,0.409058946932,0.00450650638912,0.0499782110438,0.999999999466,-5.286646534e-06,-2.10879794072e-05,2.44065695045e-05,1793250303984748544
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,745,719.424744223,685,670,641,886,788,817,654,631,656,0.409689062547,0.0044977134446,0.0499912192533,0.999999999438,-1.57233867344e-05,-3.57238741364e-06,2.93780701888e-05,1793250304001415424
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.000431174,745.000431174,720,685,670,641.000431174,886.000431174,788,817,654,631,656,0.410321965979,0.00448795812353,0.0499989115732,0.99999999906,-2.58432588787e-05,1.90305686591e-06,3.47685328236e-05,1793250304018082048
+150,2.500000000,POSE1_TO_POSE2_PRESS,770.58744611,745.58744611,720,685,670,641.58744611,886.58744611,788,817,654,631,656,0.410940947357,0.00448338538178,0.0499743698076,0.999999989822,0.000126905058875,-5.27134558676e-05,3.83589714616e-05,1793250304034748672
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.82784599,745.82784599,720,685,670,641.82784599,886.82784599,788,817,654,631,656,0.41158451339,0.00447873193923,0.0499528862498,0.99999996824,0.000229435683409,-9.56357119072e-05,4.16315057517e-05,1793250304051415296
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.248593694,745.248593694,720,685,670,641.248593694,886.248593694,788,817,654,631,656,0.412286215479,0.00447388766149,0.0499386345409,0.999999970145,0.000213214852107,-0.000110904167207,4.41522826214e-05,1793250304068082176
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,745,720,685.330207372,670,641,886.330207372,788,817.330207372,654,631,656,0.413041481694,0.0044688802425,0.0499493285056,0.999999986653,0.000137325043432,-8.26131602933e-05,3.17904983891e-05,1793250304084749056
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,745,720,685.908669258,670,641,886.908669258,788,817.908669258,654,631,656,0.413837018239,0.00446375017113,0.0499787769748,0.999999999596,1.6575260129e-05,-2.15735415048e-05,8.23979658749e-06,1793250304101415424
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,745,719.517260021,685.517260021,670.482739979,641,887,788,818,654,631,656,0.414603260416,0.00444731088745,0.0499774590222,0.999999998604,-4.28047660651e-05,-3.01652359644e-05,6.98677457921e-06,1793250304118081792
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,745.057845046,719.057845046,685.057845046,670.942154954,641,887.057845046,788,818,654,631,656,0.415366234933,0.00443386827062,0.0499680421442,0.999999995087,-8.2320710964e-05,-5.43394560221e-05,9.82465773747e-06,1793250304134748672
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,745.650112887,719.650112887,685.650112887,670.349887113,641,887.650112887,788,818,654,631,656,0.416149763185,0.00446770090503,0.0499370929497,0.999999993746,-4.46177431309e-05,-0.000101865500912,1.18345623114e-05,1793250304151415040
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.765369571,745.765369571,720,686,670.234630429,641,888,788,818,654,631,656.234630429,0.416964419835,0.00449301662859,0.0499285459138,0.999999993623,-1.06302744843e-05,-0.000111578725416,1.38207049232e-05,1793250304168081664
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.19203996,745.19203996,720,686,670.80796004,641,888,788,818,654,631,656.80796004,0.417824011629,0.00450603782055,0.0499523373657,0.999999997489,1.7993707817e-05,-6.67075038145e-05,1.57725460181e-05,1793250304184748288
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.385343098,745.385343098,719.614656902,686.385343098,671,641,888,788,818.385343098,654,631,657,0.418679062356,0.0045014685614,0.0499656588254,0.999999998152,3.13419788101e-05,-4.86600159334e-05,1.85877460798e-05,1793250304201415168
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.964767694,745.964767694,719.035232306,686.964767694,671,641,888,788,818.964767694,654,631,657,0.419531825908,0.00448803971383,0.0499737069793,0.999999998104,3.69965003469e-05,-4.41225428372e-05,2.18377845624e-05,1793250304218081792
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,746,719.551544528,687,670.448455472,641,888,788,818.448455472,654,631,656.448455472,0.420412452927,0.00448274524571,0.0499606822705,0.999999998161,1.48194876015e-05,-5.49951928596e-05,2.08519959028e-05,1793250304234748416
+163,2.716666667,POSE1_TO_POSE2_PRESS,770,746,720,687,670.136880768,641,888,788,818.136880768,654,631,656,0.421313510277,0.00447774461084,0.0499568856737,0.999999998538,-6.91203527241e-06,-4.9715148275e-05,2.00942175798e-05,1793250304251415040
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,746,720,687,670.716024351,641,888,788,818.716024351,654,631,656,0.422274749429,0.0044719917794,0.049987313268,0.999999999491,-2.13822842922e-05,1.09779171448e-05,2.0959206274e-05,1793250304268081664
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,746,720,687,671,641,888,787.705158108,819,654,631,656,0.42320437279,0.00447207708597,0.0499953766889,0.999999999362,-1.20920559698e-05,2.54891344597e-05,2.19286006224e-05,1793250304284748288
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,746,720,687,671,641,888,787.126654177,819,654,631,656,0.424103579285,0.00447777915858,0.0499819239479,0.999999999525,2.00576949894e-05,-4.43035966269e-06,2.29984418868e-05,1793250304301415168
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.551926713,746,720,687,670.551926713,641,888.448073287,787.448073287,819,654,631,656.448073287,0.425030610883,0.00448754925238,0.0499823490601,0.999999999416,2.54810634038e-05,-2.26569973946e-06,2.26631443413e-05,1793250304318081792
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.022444584,746,720,687.022444584,670.022444584,641.022444584,888.977555416,788,819,654.022444584,631,656.977555416,0.425966047817,0.00449773891607,0.0499869697956,0.999999999446,2.34396213734e-05,8.40695153515e-06,2.20983970301e-05,1793250304334748416
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.614646851,746,720,687.614646851,670.614646851,641.614646851,888.385353149,788,819,654.614646851,631,656.385353149,0.426916867483,0.00448963349803,0.0499993492312,0.999999999403,2.20743192465e-05,6.7616069027e-06,2.57072812193e-05,1793250304351415296
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.798790844,746,720,688,670.798790844,641.798790844,888,788,819.201209156,654.798790844,631,656,0.427842267687,0.00448178500477,0.0499929387125,0.99999999924,1.93032671584e-05,-1.90524941061e-05,2.7994918086e-05,1793250304368081664
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.222735637,746,720,688,670.222735637,641.222735637,888,788,819.777264363,654.222735637,631,656,0.428720312209,0.00447441515443,0.049951523125,0.999999995476,1.39133490627e-05,-8.98921945503e-05,2.78211142649e-05,1793250304384748544
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.354505991,746,720,688.354505991,670.354505991,641.354505991,888,788,820,654,631,656,0.429664262917,0.00447121648708,0.04994133672,0.999999994887,7.63946346874e-06,-9.70385249258e-05,2.740309736e-05,1793250304401415168
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.932495528,746,720,688.932495528,670.932495528,641.932495528,888,788,820,654,631,656,0.430649761404,0.0044706473687,0.0499508374548,0.99999999759,8.08317583876e-07,-6.40320189066e-05,2.68311265249e-05,1793250304418081536
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.494077183,746,720,689,671,641.494077183,888,788,820,654,631,656.505922817,0.431559812575,0.00448026997813,0.0499421435238,0.999999996112,1.35691718437e-05,-8.28371159569e-05,2.70250179009e-05,1793250304434748160
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,720,689,670.918452114,641,888,788,820,654,631,656.918452114,0.432468365347,0.00448958612698,0.0499332934631,0.999999994068,2.49192635736e-05,-0.000102494163751,2.71595653135e-05,1793250304451414784
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,720,689,670.325252664,641,888,788,820,654,631,656.325252664,0.433430113611,0.00448852357969,0.0499385595777,0.999999996021,1.1162767894e-05,-8.45094519096e-05,2.62863527755e-05,1793250304468081408
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.260202124,746,720,689.260202124,670.260202124,641,888,787.739797876,820,654,631,656,0.434379500449,0.00448314906126,0.0499535628623,0.999999997924,1.93530112445e-06,-5.84418033293e-05,2.70863442829e-05,1793250304484748288
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.836255971,746,720,689.836255971,670.836255971,641,888,787.163744029,820,654,631,656,0.435313882244,0.00447254036745,0.0499803858125,0.999999999296,-1.79451215436e-06,-2.2562512572e-05,2.99173889625e-05,1793250304501415168
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746.413055754,720,690,670.586944246,641,888.413055754,787.413055754,820,654,631,656,0.43618098569,0.00446924802995,0.0499659725403,0.999999997277,1.08838438951e-05,-6.57204671818e-05,3.17529723136e-05,1793250304518081280
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746.990151741,720,690,670.009848259,641,888.990151741,787.990151741,820,654,631,656,0.437021370276,0.00446886129793,0.0499351827859,0.999999989159,3.00785115374e-05,-0.000140267135826,3.31932195877e-05,1793250304534747648
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,747,720,690,670,641.577611384,889,787.422388616,820.577611384,654,631,656,0.437937040711,0.00447050799209,0.0499544750463,0.999999996232,9.41044494309e-06,-8.06580649911e-05,3.06803995683e-05,1793250304551414784
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,746.837262181,720,690,670.162737819,641.837262181,889.162737819,787.162737819,821,654.162737819,631,656.162737819,0.438844527993,0.00447323656304,0.0499702039287,0.999999998913,-6.86352649963e-06,-3.6030530195e-05,2.87978363649e-05,1793250304568081664
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,746.258559465,720,690,670.741440535,641.258559465,889.741440535,787.741440535,821,654.741440535,631,656.741440535,0.439727757792,0.00447864022098,0.0499746021876,0.999999998901,-1.01370234748e-05,-3.56498404196e-05,2.87016612772e-05,1793250304584748288
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,746,720,690,670.681440043,641,889.681440043,787.681440043,821,654.681440043,631.318559957,656.681440043,0.440569018709,0.00447971437065,0.0499669377091,0.999999998335,4.05695455839e-06,-4.97425271211e-05,2.89571595998e-05,1793250304601415168
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,746,720,690,670.105599375,641,889.105599375,787.105599375,821,654.105599375,631.894400625,656.105599375,0.441376383975,0.0044772918503,0.0499495309209,0.999999996189,3.23583065137e-05,-7.55244437138e-05,2.94966822449e-05,1793250304618082304
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,746,720,690,669.530623636,641,889,787.469376364,821,654.469376364,631.530623636,656,0.442192375532,0.00447427739349,0.0499590233486,0.999999997502,3.5492992381e-05,-5.29772098822e-05,3.04761121176e-05,1793250304634748928
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,746.045335101,720,690.045335101,669.045335101,641,889,788,821,654.954664899,631,656,0.443001698953,0.00447172819449,0.0499718588676,0.999999998627,3.32080690364e-05,-2.53458289306e-05,3.16269414067e-05,1793250304651415808
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,746.63543951,720,690.63543951,669.63543951,641,889,788,821,654.36456049,631,656,0.443707616118,0.00447636709591,0.0499522797343,0.999999996619,3.37100618339e-05,-6.70358910662e-05,3.36503120535e-05,1793250304668082176
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746.778842488,720,691,669.557684976,640.778842488,889,788,821,654,631.221157512,656.221157512,0.444402680824,0.00448469017587,0.049916719524,0.999999990421,3.97651910615e-05,-0.000127969388065,3.46571483556e-05,1793250304684748544
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,746.200214416,720,691,668.400428833,640.200214416,889,788,821,654,631.799785584,656.799785584,0.445080204138,0.0044989682221,0.0498553281082,0.999999973718,5.47961979801e-05,-0.000220007244713,3.40208975324e-05,1793250304701414656
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,746.376691667,720,691.376691667,668.376691667,640,889,788,821.376691667,654,631.623308333,656.623308333,0.44577468716,0.00451109521174,0.0498324937675,0.999999968172,7.0675600092e-05,-0.000239927005399,3.31066725583e-05,1793250304718081280
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,746.952686631,720,691.952686631,668.952686631,640,889,788,821.952686631,654,631.047313369,656.047313369,0.446478143331,0.00452208410083,0.0498300595424,0.999999971129,8.70038777488e-05,-0.000221689892974,3.20453747337e-05,1793250304734747904
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,746.472350658,720,691.472350658,668.472350658,639.472350658,889.527649342,788,822,654.527649342,631,656,0.447110133309,0.00452828199473,0.0498197968995,0.999999966325,9.75175274923e-05,-0.000238315866182,3.23252109841e-05,1793250304751414528
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,746,720,691.105767281,667.894232719,639,889.894232719,787.894232719,822,654.894232719,631,656,0.447723823992,0.00453320142803,0.049804550975,0.999999958941,0.000106478304417,-0.000264019019253,3.27806888269e-05,1793250304768081152
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,746,720,691.698848275,667.301151725,639,889.301151725,787.301151725,822,654.301151725,631,656,0.44828267001,0.00453420594346,0.0497695729136,0.999999943016,0.000110681908913,-0.000317169338932,3.34924278875e-05,1793250304784747776
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,746.283391077,720.283391077,691.716608923,667,639,889.283391077,787,822,654,631,656,0.448851466812,0.0045350795435,0.0497507419305,0.999999933394,0.000112862928372,-0.00034539658033,3.42815166868e-05,1793250304801414656
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,746.85912592,720.85912592,691.14087408,667,639,889.85912592,787,822,654,631,656,0.449430528722,0.00453581809229,0.0497485681348,0.999999932481,0.000112957466724,-0.000347913388822,3.51503988325e-05,1793250304818081024
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,747,720.565963549,691,667,638.565963549,890,787,822.434036451,654.434036451,631,656,0.449985079214,0.00453750590095,0.0497647897481,0.999999939346,0.000117547006104,-0.000325798579062,3.66893984026e-05,1793250304834747904
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,747,720,691.008917149,667,637.991082851,890,787,823,654.991082851,631,656,0.450530395614,0.00453954837174,0.0497866086017,0.999999947699,0.000123596878718,-0.000296392118159,3.84288011249e-05,1793250304851414272
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,747,720,691.599261345,667,637.400738655,890,787,823,654.400738655,631,656,0.450991364477,0.00454466499267,0.0497848242905,0.999999942177,0.000129918491777,-0.000311833575569,3.90804220569e-05,1793250304868080896
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,746.813971677,720,692,666.813971677,637,889.813971677,787,823,654.186028323,631,656,0.451431198191,0.00454752197652,0.0497739279152,0.99999993174,0.000133220987015,-0.000342319688413,3.98573166589e-05,1793250304884747776
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,746.234765178,720,692,666.234765178,637,889.234765178,787,823,654.765234822,631,656,0.45182636202,0.00454560312952,0.0497437728337,0.999999908843,0.000130142458927,-0.00040460327428,4.08989821281e-05,1793250304901414400
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,746,720,692,665.657653885,637,889,787,822.657653885,654.657653885,631.342346115,656,0.452216350207,0.00454476742457,0.0497169740566,0.999999891962,0.000120058834724,-0.000447394628396,3.87287243804e-05,1793250304918081024
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,746,720,692,665.081970683,637,889,787,822.081970683,654.081970683,631.918029317,656,0.452602810743,0.00454466997032,0.0496924628794,0.999999880159,0.000105200660587,-0.000476900416996,3.43692762644e-05,1793250304934747904
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,746,720,691.506604195,665,636.506604195,889.493395805,787,822,654.493395805,631.506604195,656,0.452974663896,0.00454276202828,0.0496953591843,0.999999889074,5.17942518985e-05,-0.000467765303242,1.91173896394e-05,1793250304951414272
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,746,720.070421498,691,665,636,889.929578502,787,822.070421498,655,631,656,0.453339054306,0.00454047557347,0.0497028385489,0.999999897847,-1.21021964451e-06,-0.000451980430031,4.29453092143e-06,1793250304968080896
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,746,720.660068411,691,665,636,889.339931589,787,822.660068411,655,631,656,0.453666302747,0.0045376146134,0.0497105584096,0.999999905593,-4.06229340657e-06,-0.000434468474252,5.96893473055e-06,1793250304984747776
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,746,720.754482101,691,665,635.754482101,889.245517899,787,823,655,631,656,0.453971761443,0.00453749899714,0.0497122057148,0.999999907677,-1.12605839259e-06,-0.000429637623172,7.44013700932e-06,1793250305001414144
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,746,720.174746517,691,665,635.174746517,889.825253483,787,823,655,631,656,0.454247558252,0.00454112055245,0.0497055865935,0.999999902203,9.68966412336e-06,-0.000442069260252,8.63472573467e-06,1793250305018080768
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,746,720,691.401321796,664.598678204,635,889.598678204,787,823,655,631,656,0.454484921827,0.00455340604955,0.0496893003511,0.999999887906,7.81850279346e-05,-0.000466882656718,9.73772802307e-06,1793250305034747392
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,746,720,691.975807786,664.024192214,635,889.024192214,787,823,655,631,656,0.454705702074,0.00456942990486,0.0496688428939,0.9999998617,0.000171568271969,-0.000497038589606,1.08012121937e-05,1793250305051414272
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,746,720.564382783,692,664.564382783,634.435617217,889,787,823,655,631,656,0.454884927096,0.00458596318862,0.0496502324745,0.99999984386,0.000190040077069,-0.000525436403222,8.99206565353e-06,1793250305068080896
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,746.150897494,720.849102506,692,664.849102506,634,889,787,823,655,631,656,0.455056571447,0.00459697132894,0.0496329887701,0.999999827579,0.000199096661069,-0.000552393733329,7.91593243439e-06,1793250305084747520
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,746.729811528,720.270188472,692,664.270188472,634,889,787,823,655,631,656,0.455211895333,0.0045922440329,0.0496193913884,0.999999816166,0.000190788543917,-0.000575484413371,9.27718198526e-06,1793250305101414144
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,747,720.306822232,692,664,634,889.306822232,787,823,655,631,656,0.455363134658,0.0045883241019,0.0496149999484,0.999999813322,0.000185174313285,-0.000582200389251,1.04621093181e-05,1793250305118080768
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,747,720.882167157,692,664,634,889.882167157,787,823,655,631,656,0.455510799274,0.00458511075568,0.0496186653055,0.999999818313,0.000181917701362,-0.000574585656475,1.14927240365e-05,1793250305134747648
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,747,721,692,664,634,890,787,823,655,631.458420312,656,0.455633275499,0.00458738430025,0.0496193207082,0.99999981748,0.000182609465489,-0.000575810376367,1.16812205544e-05,1793250305151414272
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,746.964405362,721,692,664,633.964405362,890,787,823.035594638,654.964405362,631.964405362,656,0.455747361064,0.00459062364886,0.0496190230102,0.999999815248,0.000183923046737,-0.000579258081104,1.17047019803e-05,1793250305168080896
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,746.376568348,721,692,664,633.376568348,890,787,823.623431652,654.376568348,631.376568348,656,0.455831916543,0.0045869224382,0.0496159654992,0.999999814593,0.000179106863834,-0.000581873762185,1.25329895069e-05,1793250305184747776
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,746.208140002,721,692,664,633.208140002,889.791859998,787,823.791859998,654,631,656.208140002,0.455909830304,0.00458488851643,0.0496129404063,0.999999812591,0.000176323490324,-0.000586136145893,1.31363181908e-05,1793250305201414144
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,746.787271711,721,692,664,633.787271711,889.212728289,787,823.212728289,654,631,656.787271711,0.455975905763,0.00458582639454,0.0496099730961,0.999999808195,0.000177163425782,-0.000593333635577,1.33386769366e-05,1793250305218081024
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,746.635173853,720.635173853,692,664,633.635173853,889,787,823,654.364826147,631,656.635173853,0.456028213859,0.00458701059709,0.049604930515,0.999999803084,0.000177115961145,-0.00060190062982,1.33547925257e-05,1793250305234747648
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746.058535106,720.058535106,692,664,633.058535106,889,787,823,654.941464894,631,656.058535106,0.456072528836,0.00458833781202,0.0495986830625,0.999999797505,0.000176553285363,-0.00061126273857,1.32627781434e-05,1793250305251414272
+224,3.733333333,POSE1_TO_POSE2_PRESS,770,746,720,692,663.483280604,633,889.516719396,787,823,655,631,656,0.4561076255,0.0045870487561,0.0495970407584,0.999999796436,0.000173502210727,-0.000613882867301,1.31244070786e-05,1793250305268080896
+225,3.750000000,POSE1_TO_POSE2_PRESS,770.094434474,746,720,691.905565526,663,633,890,787,823,655,631,656,0.456139761491,0.0045858591184,0.04959578951,0.999999795543,0.000170921675104,-0.000616059867512,1.30170020736e-05,1793250305284747776
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.685924163,746,720,691.314075837,663,633,890,787,823,655,631,656,0.456161795835,0.00458674857712,0.0495938580507,0.999999792924,0.000172297585806,-0.000619913697426,1.31001534509e-05,1793250305301415424
+227,3.783333333,POSE1_TO_POSE2_PRESS,771,746,720.270565026,691.270565026,663.270565026,633,890,787,823,655,631,656,0.456180592102,0.00458788999328,0.0495925811195,0.999999791472,0.000173166365535,-0.000622014806201,1.29010681281e-05,1793250305318082560
+228,3.800000000,POSE1_TO_POSE2_PRESS,771,746,720.847451914,691.847451914,663.847451914,633,890,787,823,655,631,656,0.45619572236,0.00458931666455,0.0495920452166,0.999999791355,0.000173460993728,-0.000622131560717,1.23824467815e-05,1793250305334748672
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.576995536,746.423004464,721,692,664,633,889.576995536,786.576995536,823.423004464,654.576995536,631,656,0.456205726441,0.00459020015019,0.0495920245473,0.999999791055,0.000174836233437,-0.000622223539122,1.26734602435e-05,1793250305351415040
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.001922687,746.998077313,721,692,664,633,889.001922687,786.001922687,823.998077313,654.001922687,631,656,0.456213887681,0.00459088836278,0.0495921891023,0.999999790686,0.000176599948588,-0.000622306610613,1.32555341391e-05,1793250305368081408
+231,3.850000000,POSE1_TO_POSE2_PRESS,770,747,721,692,664,633,889,786.586480772,823.413519228,654.586480772,631,656.586480772,0.456215685747,0.00459032223732,0.0495897260016,0.99999978786,0.000175343182164,-0.000627188944395,1.30166193925e-05,1793250305384747776
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746.827949981,720.827949981,692,663.827949981,633,889.172050019,787,823,654.827949981,631,656.827949981,0.456217427891,0.00458994486207,0.0495880355842,0.999999786027,0.000174295105515,-0.000630397043235,1.29116240529e-05,1793250305401414656
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,746.2491864,720.2491864,692,663.2491864,633,889.7508136,787,823,654.2491864,631,656.2491864,0.4562190883,0.00459002362538,0.0495881925708,0.999999786613,0.000173764308768,-0.000629609315183,1.31297148091e-05,1793250305418081280
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,746,720,692,663.328824585,633,890,787,823,654.328824585,631,656,0.456219405574,0.00458993620838,0.0495869056214,0.99999978591,0.000174475062487,-0.000630527795341,1.31298730938e-05,1793250305434747904
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746,720,692,663.90626661,633,890,787,823,654.90626661,631,656,0.456218707331,0.00458972314592,0.0495845269418,0.999999784228,0.00017612452667,-0.000632736304001,1.29652571862e-05,1793250305451414528
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746.481497324,720,692,663.518502676,633,889.518502676,787,823,654.518502676,631,656,0.456219476773,0.00458966012241,0.0495847305092,0.999999783893,0.000175191229179,-0.000633529800052,1.27403061895e-05,1793250305468081152
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,747,720,691.942394053,663,633,889.057605947,787,823,654.057605947,631,656,0.456220599708,0.00458962164587,0.0495854797804,0.999999783915,0.000173957445749,-0.000633837410881,1.25827341031e-05,1793250305484747776
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,747,720,691.354253334,663,633,889.645746666,787,823,654.645746666,631,656,0.456222358889,0.00458954147053,0.0495866463846,0.999999784841,0.000174565637086,-0.000632195479393,1.31533809163e-05,1793250305501414400
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,747,720.230454785,691.230454785,663,633,890,787,823,655,631,656,0.456223105444,0.00459052035742,0.0495867088829,0.999999784765,0.000175330895421,-0.000632100091648,1.33774243977e-05,1793250305518081024
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,747,720.809963741,691.809963741,663,633,890,787,823,655,631,656,0.456222318247,0.00459310333375,0.049585099067,0.999999783169,0.00017633405241,-0.000634347148511,1.30764913767e-05,1793250305534747648
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,721,692,663,632.615543387,890,787,823,655,631,656,0.456222398515,0.00459437041934,0.0495841882697,0.999999782375,0.00017671274257,-0.000635499939764,1.2759949163e-05,1793250305551414528
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,721,692,663,632.043498041,890,787,823,655,631,656,0.456222902048,0.00459499543949,0.0495836185461,0.999999781972,0.000176786735274,-0.000636118803608,1.24357907316e-05,1793250305568081152
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,747,720.463882573,692,663,632.536117427,890,786.463882573,823,655,631,656,0.456222663092,0.00459365289931,0.0495838148282,0.999999782396,0.000177018692591,-0.000635384595129,1.25908999649e-05,1793250305584747776
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,746.881676052,720,691.881676052,663,632.881676052,890,786.118323948,823,654.881676052,631,656,0.456222467846,0.00459271140686,0.0495840322688,0.999999782671,0.000177512424729,-0.000634811460739,1.27420654855e-05,1793250305601414656
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,746.291623537,720,691.291623537,663,632.291623537,890,786.708376463,823,654.291623537,631,656,0.456222690472,0.00459401434908,0.0495840827376,0.99999978208,0.000178997960735,-0.000635324431614,1.27202609341e-05,1793250305618082048
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.292249809,746,720,691.292249809,663.292249809,632.292249809,890,787,823,654.292249809,631,656.292249809,0.456223692849,0.00459482161656,0.0495846096676,0.999999782358,0.000180113735797,-0.000634574861912,1.25926939094e-05,1793250305634748928
+247,4.116666667,POSE1_TO_POSE2_PRESS,770.870084966,746,720,691.870084966,663.870084966,632.870084966,890,787,823,654.870084966,631,656.870084966,0.456225457196,0.00459514451281,0.0495856021938,0.999999783481,0.000180868182114,-0.000632591542656,1.23617762149e-05,1793250305651415552
+248,4.133333333,HOLD_POSE2,770,747,721,692,663,633,890,787,823,654,631,656,0.456222242673,0.0045942259006,0.0495833949732,0.999999781704,0.000174533669942,-0.000637174607694,1.17618008619e-05,1793250305684306688
+249,4.150000000,HOLD_POSE2,770,746.409040251,720.409040251,691.409040251,663,633,890,787,823,654.590959749,631,656,0.456223300896,0.00459555529077,0.0495838995538,0.999999781894,0.000178765912763,-0.000635694142287,1.21328352569e-05,1793250305700973568
+250,4.166666667,HOLD_POSE2,769.821772965,746,720,691.178227035,663,632.821772965,890,787,823,654.821772965,631,656,0.456224230082,0.00459598533789,0.0495844373629,0.999999782215,0.00018043423304,-0.000634711425524,1.24136216356e-05,1793250305717639936
+251,4.183333333,HOLD_POSE2,769.242807952,746,720,691.757192048,663,632.242807952,890,787,823,654.242807952,631,656,0.456224869132,0.00459439324023,0.049585049885,0.999999782859,0.000176337653543,-0.000634847880928,1.24914882114e-05,1793250305734306048
+252,4.200000000,HOLD_POSE2,769.33629788,746.33629788,720.33629788,692,663,632.33629788,890,787,823,654.33629788,631,656,0.456224951662,0.00459518689554,0.0495848022418,0.999999782672,0.000176798454051,-0.00063501737449,1.23246955024e-05,1793250305750972416
+253,4.216666667,HOLD_POSE2,769.91550539,746.91550539,720.91550539,692,663,632.91550539,890,787,823,654.91550539,631,656,0.456224632215,0.00459770379218,0.0495839332969,0.999999781883,0.000180551073046,-0.000635210731666,1.19811841705e-05,1793250305767638784
+254,4.233333333,HOLD_POSE2,770,746.510696383,720.510696383,692,663,633,889.510696383,787,823,654.510696383,631,656,0.456223544215,0.00459716420867,0.0495829249722,0.99999978103,0.000179578061928,-0.000636832290343,1.17066082947e-05,1793250305784305920
+255,4.250000000,HOLD_POSE2,770,746,720,692,663.064246749,633,889.064246749,787,823,654,631,656.064246749,0.456222648498,0.00459614439882,0.0495822232872,0.999999780404,0.000178017047547,-0.000638254439223,1.15312943274e-05,1793250305800973312
+256,4.266666667,HOLD_POSE2,770,746,720,692,663.65618178,633,889.65618178,787,823,654,631,656.65618178,0.456224410239,0.00459546796032,0.0495842357011,0.999999781769,0.000178255700379,-0.000636035233041,1.20745602911e-05,1793250305817639680
+257,4.283333333,HOLD_POSE2,770,746.241795976,720,692,663.758204024,633,890,787,823,654.241795976,631,656.758204024,0.456225040583,0.00459533332868,0.0495848214694,0.999999782039,0.000178967919746,-0.00063540217055,1.24764746878e-05,1793250305834306048
+258,4.300000000,HOLD_POSE2,770,746.81865127,720,692,663.18134873,633,890,787,823,654.81865127,631,656.18134873,0.456224103139,0.00459594948476,0.0495834303192,0.999999780795,0.000180336365403,-0.000636967044845,1.26825166324e-05,1793250305850972672
+259,4.316666667,HOLD_POSE2,770,747,720,691.605214535,663,633,890,787,823,655,631,656,0.456224454179,0.00459498504356,0.0495833108352,0.999999780787,0.000179964374413,-0.000637081991937,1.28487004711e-05,1793250305867639296
+260,4.333333333,HOLD_POSE2,770,747,720,691.02941093,663,633,890,787,823,655,631,656,0.456225396019,0.00459329586251,0.0495837744391,0.999999781345,0.000178794353649,-0.000636532114474,1.29966084773e-05,1793250305884305920
+261,4.350000000,HOLD_POSE2,770,747,720,691,663,633,889.442504707,787,823,655,631,656.557495293,0.456225003479,0.00459444334193,0.0495834169676,0.999999781029,0.000178815577251,-0.000637023624212,1.29877647638e-05,1793250305900972544
+262,4.366666667,HOLD_POSE2,770,747,720,691.142806838,663,632.857193162,889.142806838,787,823,655,631.142806838,656.857193162,0.456224620082,0.00459564597605,0.049582880387,0.999999780595,0.000179072827281,-0.000637633856449,1.29112536723e-05,1793250305917639168
+263,4.383333333,HOLD_POSE2,770,747,720,691.721428099,663,632.278571901,889.721428099,787,823,655,631.721428099,656.278571901,0.456224483787,0.00459655095394,0.0495819320827,0.999999779946,0.000179854692111,-0.000638435335269,1.26539864234e-05,1793250305934306048
+264,4.400000000,HOLD_POSE2,770.299106841,747,720,692,663,632,889.700893159,787,823,655,631.700893159,656,0.456225141751,0.00459754180143,0.0495825492564,0.999999780359,0.000180744123673,-0.000637539745869,1.24780758967e-05,1793250305950972672
+265,4.416666667,HOLD_POSE2,770.875910495,747,720,692,663,632,889.124089505,787,823,655,631.124089505,656,0.45622653712,0.00459861237195,0.0495846198515,0.999999781754,0.000181733422307,-0.000635068564125,1.23776986036e-05,1793250305967639296
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,691,663,632,889,787,823,655,631,656,0.456224537372,0.00459832499243,0.0495830878851,0.999999780469,0.000179647626806,-0.000637689465683,1.18628254538e-05,1793250306000143104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770.58699471,746,720,691,663,632,889.58699471,787,823,655,631,656,0.456225627518,0.0045988816501,0.0495832466352,0.999999779995,0.000182065330401,-0.000637747833,1.18153369601e-05,1793250306016809216
+268,4.466666667,POSE2_TO_POSE3_RETREAT,771,746,720.172594554,691.172594554,663,632,890,787,823,654.827405446,631,656,0.456226191505,0.00459875450397,0.0495832440399,0.999999779686,0.000182936484412,-0.00063798165414,1.18880547208e-05,1793250306033475584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,771,746,720.754883471,691.754883471,663,632,890,787,823,654.245116529,631,656,0.456225506528,0.00459700418649,0.0495828584528,0.999999779775,0.0001801365344,-0.000638631956816,1.22461107031e-05,1793250306050142208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.666168993,746.333831007,720.666168993,692,663,632.333831007,889.666168993,787,823,654,631,656,0.456226682203,0.00459571462317,0.0495836275449,0.999999781154,0.000178671016302,-0.000636875671738,1.25663034659e-05,1793250306066808576
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.089650597,746.910349403,720.089650597,692,663,632.910349403,889.089650597,787,823,654,631,656,0.45622921053,0.00459476001753,0.049585236062,0.999999783465,0.000178175599381,-0.000633369853215,1.2858970526e-05,1793250306083475456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.51740836,746.51740836,720,692.48259164,663,633,889,787,823,654.48259164,631,656,0.456227854935,0.00459531679157,0.0495847569096,0.999999782473,0.000180100824308,-0.000634387128484,1.30885341965e-05,1793250306100142336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.056045837,746.056045837,720.056045837,692.943954163,663,633,889.056045837,787,823,655,631,656.056045837,0.456225691068,0.00459620599235,0.0495838319364,0.999999780882,0.000182208447772,-0.000636286647973,1.32345318253e-05,1793250306116808960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.648640724,746.648640724,720.648640724,692.351359276,663,633,889.648640724,787,823,655,631,656.648640724,0.45622263594,0.00459761335472,0.0495823191314,0.999999779452,0.000181795086758,-0.000638658837204,1.26917585461e-05,1793250306133475328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,746.764430025,721,692,663,633,889.764430025,787,823,655,631,656.764430025,0.456212979813,0.00459827595594,0.0495773888801,0.999999774642,0.000181164943177,-0.000646334760401,1.21417742591e-05,1793250306150141696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,746.185752812,721,692,663,633,889.185752812,787,823,655,631,656.185752812,0.456193709344,0.00459785381379,0.0495674811246,0.999999764746,0.000180219056187,-0.000661735562097,1.15812871981e-05,1793250306166808320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.390939894,746.390939894,721,692,663,632.609060106,889,787,823,655,631,656,0.456155198413,0.00459781234021,0.0495498852963,0.999999744513,0.000180323962631,-0.000691613983029,1.12939532309e-05,1793250306183474944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.966694486,746.966694486,721,692,663,632.033305514,889,787,823,655,631,656,0.456107591658,0.00459795082558,0.0495286549727,0.999999718334,0.000180925625654,-0.000728336619979,1.11357508349e-05,1793250306200141568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,771,747,721,691.448379071,663,632.551620929,889,787,823,654.448379071,631.551620929,656,0.456042535289,0.00459913023946,0.0495052654431,0.999999692429,0.000182899984134,-0.000762611204718,1.06154540409e-05,1793250306216808448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,771,747,721,691.135531604,663,633,889.135531604,787,823,654,631.864468396,656,0.455974976924,0.00460023110042,0.0494845295244,0.999999669563,0.000184704543575,-0.000791617765997,9.93802040853e-06,1793250306233475584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,771,747,721,691.714279087,663,633,889.714279087,787,823,654,631.285720913,656,0.455902740133,0.00460086607459,0.0494729049833,0.999999659605,0.000185678209686,-0.00080388836423,8.81942051344e-06,1793250306250142720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770.413251756,746.706625878,721,692,663.293374122,633,890,787.293374122,823,654.293374122,631,656,0.455823350275,0.0046032434374,0.049467895397,0.999999654859,0.000188631498274,-0.000809097045227,7.84578292165e-06,1793250306266809088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.25438398,746.12719199,721,692,663.87280801,633,890,787.87280801,823,654.87280801,631,656,0.455736985692,0.00460731974784,0.0494693358431,0.999999655288,0.000193515053666,-0.000807419874909,7.0134935242e-06,1793250306283475200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.448647398,746,720.551352602,691.551352602,664,633,889.551352602,787.102705203,823,655,631,656,0.455636951543,0.00460799648771,0.0494747796105,0.999999660084,0.00019571304091,-0.000800922077095,7.20243909936e-06,1793250306300141824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,746,720,691.023944124,663.976055876,633,889.023944124,786.023944124,823,654.976055876,631,656,0.455531909405,0.00460781368657,0.0494811454263,0.999999665786,0.000197207451157,-0.000793396795872,7.61708520779e-06,1793250306316808448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,746,720,691.610239103,663.389760897,633,889.610239103,786.610239103,823,654.389760897,631,656,0.455399542331,0.00460989916814,0.0494827230096,0.999999665109,0.000199916857895,-0.000793582118458,6.58688794234e-06,1793250306333474816
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,746,720.195166215,692,663.195166215,633,889.804833785,787,822.804833785,654,631,656,0.455257301974,0.00461129028994,0.0494854981584,0.999999666657,0.000202810760092,-0.000790897285077,5.89996336728e-06,1793250306350141440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,746,720.777380541,692,663.777380541,633,889.222619459,787,822.222619459,654,631,656,0.455095481215,0.00461130437686,0.0494906482849,0.999999672581,0.00020607054813,-0.000782520439581,5.89380759617e-06,1793250306366808832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,746.355238307,720.644761693,692,664,633,889,787,822.710476614,654,631,656,0.454909791263,0.00461319028928,0.0494927726445,0.99999967581,0.000209770328558,-0.000777400918216,4.98332407021e-06,1793250306383475968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,746.930399052,720.069600948,692,664,633,889,787,823.860798104,654,631,656,0.454709324253,0.00461623501938,0.0494930238001,0.999999677382,0.000213742501662,-0.000774297954091,3.51298548047e-06,1793250306400142592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.49424936,746.50575064,720,691.50575064,664,633,889.49424936,787,823.50575064,654,631,656,0.454488428501,0.00461827743894,0.0494949861796,0.999999677233,0.000218943892799,-0.000773038050498,2.9449876338e-06,1793250306416808960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770.939200287,746.060799713,720.060799713,691.060799713,664,633,890,787,823,654,631,656,0.45426130004,0.00462032018457,0.0494982523253,0.999999678219,0.000224467883393,-0.000770175520364,2.47297760827e-06,1793250306433475584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.334570925,746.665429075,720.665429075,691.665429075,664,633,890,787,823,654,631,656,0.454003578543,0.00462360010683,0.0495110729265,0.999999691452,0.000231363727209,-0.000750708552328,1.74838609e-06,1793250306450141696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,746.741626599,720.741626599,691.741626599,664,633.258373401,889.741626599,787.258373401,822.741626599,654.258373401,631,656,0.45372914641,0.0046271895305,0.04952647528,0.999999707116,0.0002380983957,-0.00072737697285,7.7768626203e-07,1793250306466808320
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,746.163158704,720.163158704,691.163158704,664,633.836841296,889.163158704,787.836841296,822.163158704,654.836841296,631,656,0.453434011765,0.00463116239008,0.0495450761225,0.999999725597,0.000244633386309,-0.000699257591804,-4.97912998787e-07,1793250306483474944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,746.413131404,720,691.413131404,664,634,889,787.586868596,822,655,631,656,0.453095623061,0.00463462418818,0.0495589124434,0.999999734871,0.000252007230884,-0.000683189945819,-1.20453437e-06,1793250306500142080
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,746.988565932,720,691.988565932,664,634,889,787.011434068,822,655,631,656,0.452740241541,0.00463788521017,0.04957087697,0.999999740578,0.000259710628132,-0.000671856954512,-1.68762661636e-06,1793250306516809216
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,747,720,691.425526785,664,634,889,787,821.425526785,655,631,656,0.452356578011,0.00464283012124,0.0495772484823,0.999999740433,0.000267073080383,-0.00066917556422,-3.15416215778e-06,1793250306533475840
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,746.840416693,720,691,664.159583307,634.159583307,889,787,821,654.840416693,631,656,0.451955212934,0.00464817890866,0.0495808465131,0.99999973851,0.000274995928937,-0.000668830164178,-4.76018035285e-06,1793250306550142464
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,746.257981612,720,691,664.742018388,634.742018388,889,787,821,654.257981612,631,656,0.451508462961,0.00465450740067,0.0495773960283,0.99999973225,0.000284421987029,-0.000674209745805,-6.68296001997e-06,1793250306566808576
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,746,720,691,665,635,889,787,820.679584758,654.320415242,631,656,0.451053351954,0.00465862568754,0.0495776670507,0.999999735602,0.000291055989055,-0.000666335603302,-8.895140053e-06,1793250306583474944
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,746,720,691,665,635,889,787,820.104398744,654.895601256,631,656,0.450591592815,0.00466098658159,0.049580897143,0.999999746382,0.000295469953214,-0.000647923068962,-1.13374303004e-05,1793250306600141824
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770.470094833,746.470094833,720,691,665.470094833,635.470094833,889,787,820,654.529905167,631,656,0.450105723156,0.00466581920821,0.0496047289919,0.999999771674,0.000303620923676,-0.000603554237451,-1.37012455549e-05,1793250306616808448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770.954350521,747,720,691,666,636.045649479,889,787,819.954350521,654.045649479,631,656,0.449611692528,0.0046709157178,0.0496327129074,0.999999797172,0.000312502562714,-0.00055474588084,-1.59509531779e-05,1793250306633475072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770.36431056,747,720,691,666,636.63568944,889,787,819.36431056,654.63568944,631,656,0.449084098827,0.00467262263207,0.0496557305429,0.999999812534,0.000320215214921,-0.000521635870818,-1.70474062929e-05,1793250306650141952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,747,720.221438406,691,666,637,889.221438406,787.221438406,819,654.778561594,631,656,0.448524599615,0.00467458271503,0.049667296291,0.999999819529,0.000327478733745,-0.000503326951878,-1.90021098957e-05,1793250306666809088
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,747,720.800261992,691,666,637,889.800261992,787.800261992,819,654.199738008,631,656,0.447913607303,0.00467695139338,0.0496603795398,0.999999814474,0.000334017384571,-0.000508905899926,-2.23419661483e-05,1793250306683476224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,746.623257934,720.623257934,690.623257934,666.376742066,637.376742066,889.623257934,787.623257934,819.376742066,654,631,656,0.447264349507,0.0046800223573,0.049645183099,0.999999800241,0.000340852446322,-0.000531694225679,-2.52837126086e-05,1793250306700142592
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,746.048012662,720.048012662,690.048012662,666.951987338,637.951987338,889.048012662,787.048012662,819.951987338,654,631,656,0.446594929869,0.00468346335135,0.0496256241379,0.999999780316,0.00034784368477,-0.000563550072009,-2.80156972032e-05,1793250306716808960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,746,720,690,667.51516875,638.51516875,889,787.51516875,819.48483125,654,631,656,0.445928334968,0.00468489926357,0.0496324641081,0.999999786035,0.000353046002204,-0.000549856010348,-3.07761413377e-05,1793250306733475584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,746.083112885,720.083112885,690,668,639,889,788,819.083112885,654.083112885,631,656,0.445259985059,0.00468434105852,0.0496474732448,0.999999797963,0.000356069802697,-0.00052550176191,-3.36994714594e-05,1793250306750141952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,746.687842483,720.687842483,690,668,639,889,788,819.687842483,654.687842483,631,656,0.444579006573,0.00467241372521,0.049698664392,0.999999833353,0.000346443638516,-0.000460277153229,-3.76288079627e-05,1793250306766808320
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,746.718800189,720.718800189,690.281199811,668,639,889,788,820,654.718800189,631,656,0.443860459496,0.00464662322464,0.0497302246615,0.999999883037,0.000232754302897,-0.000422275845113,-3.78851571729e-05,1793250306783474944
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,746.137576344,720.137576344,690.862423656,668,639,889,788,820,654.137576344,631,656,0.443101828808,0.00460604151995,0.0497408399194,0.999999913965,8.03553411212e-06,-0.000413320211501,-3.42226392292e-05,1793250306800142080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770,746,720,690.562125334,668,639.437874666,889,788,819.562125334,654,630.562125334,656.437874666,0.44234261654,0.00458920213994,0.0497520689008,0.999999922611,-4.41672820886e-05,-0.000389240820259,-3.63115161936e-05,1793250306816808960
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770,746,720,689.988450314,668.023099371,640,888.988450314,788,819,654,630.011549686,656.988450314,0.441582654043,0.00458013196444,0.0497641993333,0.999999933691,-4.2462063184e-05,-0.000359444417197,-4.01895861464e-05,1793250306833475840
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770,746,720,689.414082537,669.171834925,640,888.414082537,788,819,654,630.585917463,656.414082537,0.440794919014,0.00459087751854,0.0498109834576,0.999999959714,-2.07603403784e-05,-0.000279597392656,-4.43439131866e-05,1793250306850142208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770,746,720,689,669.834794664,640,888,788,819,654,630.834794664,656,0.439985342698,0.00460116336183,0.0498399143639,0.99999997202,9.33501237968e-07,-0.000231565170596,-4.83471086872e-05,1793250306866808576
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,746,720,689,669.242796198,640,888,788,819,654,630.242796198,656,0.439119341427,0.00461026158293,0.0498227230842,0.99999996309,2.26069809071e-05,-0.000265723638506,-5.19598698255e-05,1793250306883475456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,746,720,689,669,640,888.341160277,788,819,654,630,656,0.438221806162,0.00461712621787,0.0497963713055,0.999999948035,4.11228851224e-05,-0.000314901893516,-5.54559477857e-05,1793250306900142080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,746,720,689,669,640,888.919525227,788,819,654,630,656,0.437302345725,0.0046224378666,0.049763650342,0.999999926483,5.74433637665e-05,-0.000374523225309,-5.88708970475e-05,1793250306916808448
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769.506886918,746,720,688.506886918,669.493113082,640,888.506886918,788,819,654,630.493113082,656,0.436415863923,0.00462299849969,0.049781595281,0.999999935608,6.19190015468e-05,-0.000347900893925,-6.25739495048e-05,1793250306933475328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769.068077493,746,720,688,669.931922507,640,888,788.068077493,819,654,630.931922507,656,0.435526399621,0.00462141725721,0.0498018939522,0.999999945407,6.31013963166e-05,-0.000317550955032,-6.60681424154e-05,1793250306950141952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,769.659561536,746,720,688,669.340438464,640,888,788.659561536,819,654,630.340438464,656,0.434573023044,0.00460927245879,0.0497773271638,0.9999999294,5.36834736527e-05,-0.000365715617586,-6.75985172746e-05,1793250306966808576
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669,640.24569366,888,788.75430634,819,654,630.24569366,656,0.433645881099,0.00460048271966,0.0497700399893,0.99999992408,7.50964990674e-05,-0.000378360432343,-5.51627666261e-05,1793250306983474944
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,746,720,688,669,640.824568223,888,788.175431777,819,654,630.824568223,656,0.432754315348,0.00459624271644,0.0497861853957,0.999999931382,0.000138318836195,-0.000342837404515,-2.37877958703e-05,1793250307000141568
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.400926993,641,888,788.400926993,819,654,631,656,0.431844739483,0.00460126719689,0.0498005280552,0.9999999353,0.000168076128082,-0.000317543986422,-1.77661675183e-05,1793250307016808192
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.976191769,641,888,788.976191769,819,654,631,656,0.430927332214,0.00461032021539,0.0498140868132,0.99999993893,0.000183281585546,-0.000296698780897,-2.27691055494e-05,1793250307033474560
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,746,720,688,669.450679241,641,887.450679241,788.450679241,819,654,631,656,0.429949526666,0.00461015476627,0.049780564264,0.999999921498,0.000180362888177,-0.000351698653746,-2.79494887837e-05,1793250307050141952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,746,720,688,669,640.872892332,887.127107668,788,818.872892332,654,631,656,0.428976838025,0.00461030535913,0.0497562028087,0.999999907011,0.000175220870887,-0.000392681697553,-3.28224867355e-05,1793250307066809088
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,746,720,688,669,640.277609317,887.722390683,788,818.277609317,654,631,656,0.428032601074,0.00461308595229,0.0497730712736,0.999999917317,0.000164771816047,-0.00036997568305,-3.65350759065e-05,1793250307083475712
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,745.692689259,719.692689259,688,669.307310741,640,887.385378518,787.692689259,818,654,630.692689259,656,0.427072286516,0.00461577869331,0.0497721493302,0.999999916756,0.000152736835082,-0.000376482859066,-3.76711123591e-05,1793250307100142080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,745.116825233,719.116825233,688,669.883174767,640,886.233650466,787.116825233,818,654,630.116825233,656,0.42609792208,0.00461839466181,0.0497556806707,0.999999906184,0.0001393159425,-0.000408518913604,-3.65555458928e-05,1793250307116808448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,745.457187625,719.457187625,687.542812375,669.542812375,640,886.457187625,787.457187625,818,653.542812375,630.457187625,656,0.425219307272,0.00461496047017,0.0497750650584,0.999999926304,0.000139908735831,-0.00035548070619,-3.80913022364e-05,1793250307133474816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,746,719.968379404,687,669.031620596,640.031620596,887.031620596,788,818.031620596,653.031620596,631,656,0.424361986595,0.00461003036428,0.0498034004104,0.999999948882,0.0001435400119,-0.000282871311863,-4.02015903183e-05,1793250307150141440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,746,719.378204178,687,669.621795822,640.621795822,887.621795822,788,818.621795822,653.621795822,631,656,0.423450365006,0.00460587483715,0.0498286687617,0.999999959171,0.000137844630979,-0.000247007020414,-4.05414049233e-05,1793250307166808320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769.791945454,745.791945454,719,686.791945454,669.791945454,641,887.791945454,788,818.791945454,654,631,656,0.422527119168,0.00460554523848,0.0498351006063,0.9999999604,0.000137560097474,-0.000242139137473,-4.05804258325e-05,1793250307183474944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769.212674556,745.212674556,719,686.212674556,669.212674556,641,887.212674556,788,818.212674556,654,631,656,0.421583132889,0.00461204196053,0.0498079238685,0.999999945602,0.00014692973823,-0.000292575849713,-4.00827628411e-05,1793250307200141568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769.363823879,745,719,686,669,641,886.636176121,788,818.363823879,654,631,656,0.420676021744,0.00461651717661,0.0498020320253,0.999999939366,0.000150164621182,-0.000311668568323,-3.97625196908e-05,1793250307216808192
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769.938713883,745,719,686,669,641,886.061286117,788,818.938713883,654,631,656,0.419790303126,0.0046198196506,0.0498084882469,0.99999993914,0.000149840530195,-0.000312577608966,-3.95452036614e-05,1793250307233474816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770,745,719,686,669.510159878,641,886,788.510159878,818.489840122,653.489840122,631,656,0.418898311534,0.00462372141935,0.0497946696395,0.999999927017,0.000151470113493,-0.000348492372805,-3.970329496e-05,1793250307250142208
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770,745,719.085032939,686,669.914967061,640.914967061,886,788.914967061,818,653,631,656,0.418011816554,0.00462619771526,0.0497792414587,0.99999991399,0.000153217078885,-0.000383322336373,-4.01180714988e-05,1793250307266809600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,745,719.683060382,686,669.316939618,640.316939618,886,788.316939618,818,653,631,656,0.417162997831,0.00461964286852,0.0497686983147,0.999999912571,0.000154265790486,-0.00038640794538,-4.1811154855e-05,1793250307283475456
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,745.270952164,720,686,669.270952164,640,886,788,817.729047836,653.270952164,631,656,0.416353439747,0.00461275739685,0.0497773614033,0.99999992327,0.000145109079362,-0.000361378079274,-4.25464771899e-05,1793250307300141568
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,745.847415479,720,686,669.847415479,640,886,788,817.152584521,653.847415479,631,656,0.415588149915,0.00460549913066,0.0498076804119,0.999999944961,0.000124445279606,-0.000304646707809,-4.22018792569e-05,1793250307316808192
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,745.577657583,719.577657583,685.577657583,669.577657583,640.422342417,886,788.422342417,817.422342417,653.577657583,630.577657583,656,0.414801068859,0.00460533948919,0.0498066514184,0.999999944907,0.000120064814935,-0.00030656526787,-4.22936583034e-05,1793250307333475072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,745.00328365,719.00328365,685.00328365,669.00328365,640.99671635,886,788.99671635,817.99671635,653.00328365,630.00328365,656,0.414006143507,0.00460773515447,0.049794338019,0.999999937392,0.000121545896059,-0.00032959616642,-4.25425209046e-05,1793250307350141952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745,719,685,669,641,885.413949972,788.413949972,818,653,630.586050028,656,0.413257531804,0.00461415014165,0.0497755098636,0.999999923206,0.000143978617657,-0.000362010205042,-4.25036160289e-05,1793250307366808576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,745,719.172146326,685,669,640.827853674,885,788,818,653.172146326,631,656,0.41251998498,0.00461866147382,0.0497698990979,0.999999915923,0.000161142023806,-0.000374691070652,-4.23534769239e-05,1793250307383475200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,745,719.750402536,685,669,640.249597464,885,788,818,653.750402536,631,656,0.411807912913,0.00461862738115,0.0497955578014,0.999999927375,0.000165590413911,-0.000340692198479,-4.19448289431e-05,1793250307400142336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,745,720,685.328117519,669.328117519,640,885.328117519,788,817.671882481,654,631,656,0.411113976835,0.00461756666258,0.0498094699586,0.999999935933,0.000147824745438,-0.000323402494014,-4.11505402667e-05,1793250307416808960
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,745,720,685.905421438,669.905421438,640,885.905421438,788,817.094578562,654,631,656,0.410433814042,0.00461572628066,0.0498144612875,0.999999941974,0.000113188775753,-0.000318802444131,-4.00633796554e-05,1793250307433475584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,745,720,685.51902693,669.51902693,640.48097307,885.51902693,788,817.48097307,654,631,656,0.409784176006,0.00461146915965,0.0497989620607,0.999999933305,0.000118012677066,-0.000343261361598,-4.04237612586e-05,1793250307450142208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,745,719.942241907,685,669,641,885.057758093,788.057758093,818,654,631,656,0.409149465209,0.00460657439987,0.0497827042553,0.999999923314,0.000128698077022,-0.000367587012868,-4.10924389729e-05,1793250307466808576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,745,719.350890556,685,669,641,885.649109444,788.649109444,818,654,631,656,0.40859740714,0.00460016328167,0.0497965272727,0.999999934513,0.000122110179192,-0.000338083375062,-4.19891637228e-05,1793250307483475200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,745.234825175,719.234825175,684.765174825,669.234825175,641,886,788.765174825,818,654,631,656,0.408048634654,0.00459738301056,0.0498120860603,0.999999943139,0.000120520687307,-0.000312109216758,-4.22337068612e-05,1793250307500141568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,745.81231712,719.81231712,684.18768288,669.81231712,641,886,788.18768288,818,654,631,656,0.407504656677,0.00459990102475,0.0498301777557,0.999999948748,0.000126225080213,-0.000291285426182,-4.15265591215e-05,1793250307516808448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,746,720,684,669.612139075,641,885.612139075,788,818,654,631,656,0.406968072193,0.00460119867152,0.0498220991531,0.999999943356,0.000125698560533,-0.000309410152647,-4.18809123619e-05,1793250307533475584
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,746,720,684,669.037533198,641,885.037533198,788,818,654,631,656,0.406435047434,0.00460190874332,0.049801420234,0.999999931666,0.000122172018794,-0.000346287575436,-4.27463506257e-05,1793250307550142720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,745.464773564,720,684,669,641,885,788,817.464773564,654,631,656,0.405943000826,0.00460485576564,0.0497800671509,0.999999918098,0.00012542111504,-0.000382324111944,-4.36195756109e-05,1793250307566809088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,745.111934173,720,684,669,640.888065827,885,788,817,654,631,656,0.405469939006,0.0046082683241,0.0497646173237,0.999999907148,0.000130175038801,-0.000408394005983,-4.44238663978e-05,1793250307583475456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,745.706211101,720,684,669,640.293788899,885,788,817,654,631,656,0.405066345246,0.00461301330897,0.0497748086107,0.999999912537,0.000139373064409,-0.000391769240681,-4.49287639328e-05,1793250307600142080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,746,720,683.707850375,669,640.292149625,885,788,817,654,631,656,0.404693243037,0.00461548994321,0.0497965780422,0.999999925078,0.000143238392937,-0.00035675339336,-4.53131253067e-05,1793250307616808448
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,746,720,683.130064391,669,640.869935609,885,788,817,654,631,656,0.404349952616,0.00461574879777,0.0498296674912,0.999999942761,0.000141889912215,-0.000303756480306,-4.55796376725e-05,1793250307633475072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,745.553219569,720,683,669,641,885,787.553219569,817.446780431,654,631,656,0.404023634921,0.00461582232545,0.0498500226579,0.999999951072,0.000141652774228,-0.000275199606524,-4.53370718363e-05,1793250307650141952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,745.023703829,720,683,669,641,885.023703829,787.023703829,818,654.023703829,630.976296171,656,0.403702844774,0.0046159323019,0.0498654863357,0.999999956239,0.000141882856695,-0.000255670075735,-4.49878506621e-05,1793250307666808576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,745.608966187,720,683,669,641,885.608966187,787.608966187,818,654.608966187,630.391033813,656,0.403396195954,0.00461818122802,0.0498527073862,0.999999948663,0.000145533207473,-0.000281802851298,-4.56154724169e-05,1793250307683475712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,745.806775524,720,683,669,641,885.806775524,788,817.806775524,654.806775524,630,656,0.403096717901,0.00462000406032,0.0498396113667,0.999999940777,0.000148079530791,-0.000307207291151,-4.62869188711e-05,1793250307700142592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,745.224538764,720,683,669,641,885.224538764,788,817.224538764,654.224538764,630,656,0.402811676549,0.00462096905215,0.0498258770027,0.999999933053,0.000148403152741,-0.000331145394479,-4.70465960663e-05,1793250307716809216
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,745.353231731,720,683,669,640.646768269,884.646768269,788,817.353231731,654.353231731,630.353231731,656,0.402556154141,0.00462204209491,0.0498161544318,0.999999927064,0.000148918538634,-0.000348448203559,-4.77364343536e-05,1793250307733475328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745.92819866,720,683,669,640.07180134,884.07180134,788,817.92819866,654.92819866,630.92819866,656,0.402319161719,0.00462318296489,0.0498089501945,0.999999922274,0.000149554301121,-0.000361585822144,-4.83824325361e-05,1793250307750141696
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,745.496165491,719.496165491,683,669,640.503834509,884,788,817.496165491,654.496165491,630.496165491,656,0.40213480019,0.00462441061248,0.0498099928178,0.99999993178,9.0884540071e-05,-0.000354600055961,-4.93866732859e-05,1793250307766808576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,745,719,683,669,640.918635273,884,788,817,654,630.081364727,656,0.401962818359,0.0046247803389,0.0498126266613,0.999999938801,3.3232961926e-05,-0.000344633857401,-5.02066135741e-05,1793250307783474944
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,745,719,683,669,640.329886918,884,788,817,654,630.670113082,656,0.401821201061,0.00461972292136,0.0498178446669,0.999999942395,3.47042989251e-05,-0.000333988940196,-4.95584874006e-05,1793250307800141568
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,745.254972998,719,683,669,640,884,788,817,654,630.745027002,656,0.401691513537,0.0046090630673,0.0498239258263,0.999999946353,5.49729727623e-05,-0.00032009525337,-4.25546328356e-05,1793250307816808448
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,745.834877544,719,683,669,640,884,788,817,654,630.165122456,656,0.401577029041,0.00459126360116,0.0498311069682,0.999999949083,9.91965272228e-05,-0.000302061411586,-2.7451188527e-05,1793250307833475584
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,745.588700383,719.411299617,682.588700383,669,640,884,788,817,654,630.411299617,656,0.401473710683,0.00458248530582,0.0498340880059,0.999999949765,0.00010743783902,-0.000297303081332,-2.31937517769e-05,1793250307850142208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,745.013664677,719.986335323,682.013664677,669,640,884,788,817,654,630.986335323,656,0.401374837505,0.00457729828882,0.0498353970055,0.999999950242,0.000101354819218,-0.00029782965897,-2.32540506672e-05,1793250307866808576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,745,720,682,669,640.561712573,884,788,817,654,631,656,0.401297686934,0.00458459519657,0.0498331461841,0.99999994908,0.000110407197623,-0.000298308832463,-2.5745307348e-05,1793250307883474944
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,745,720,682.141335717,669.141335717,641,884,788,817,654,631,656,0.401227155088,0.00458949187389,0.0498317743571,0.999999948643,0.000116908695175,-0.000297123707373,-2.76210215321e-05,1793250307900141568
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,745,720,682.734505822,669.734505822,641,884,788,817,654,631,656,0.401176092181,0.00458574381652,0.0498334895922,0.999999950889,0.00011407751448,-0.000290621695812,-2.73397443001e-05,1793250307916808192
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,745,719.682408681,683,669.682408681,641,884.317591319,788,817,654.317591319,631,656,0.401131839963,0.00458655476261,0.049835089111,0.999999951717,0.00011540229804,-0.000287187444359,-2.77729187386e-05,1793250307933475072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,745,719.107494013,683,669.107494013,641,884.892505987,788,817,654.892505987,631,656,0.401093105992,0.00459105956881,0.0498365948725,0.999999951408,0.000120094385677,-0.000286238796367,-2.87849663265e-05,1793250307950141696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,745,719,682.534106437,669,640.534106437,884.534106437,788,817,654.534106437,630.534106437,656,0.401066913375,0.00458878801143,0.0498390933658,0.99999995352,0.000117058747996,-0.000280037298891,-2.89229732769e-05,1793250307966809088
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,745,719.040230241,682.040230241,669,640.040230241,884,787.959769759,817,654,630.040230241,656,0.401043844103,0.00458532927619,0.0498415378139,0.999999955898,0.000112606770549,-0.000273293657116,-2.88847001792e-05,1793250307983476224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,745,719.632407048,682.632407048,669,640.632407048,884,787.367592952,817,654,630.632407048,656,0.401024056213,0.00458696330254,0.0498401085583,0.999999955176,0.000113105217243,-0.000275685512749,-2.91856530358e-05,1793250308000142336
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770.219684843,745.219684843,720,683,669,640.780315157,884.219684843,787.219684843,817.219684843,654,631,656,0.401009048635,0.00458830786389,0.0498398920551,0.999999955095,0.000113463937931,-0.000275796622371,-2.95275570786e-05,1793250308016808704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770.798944029,745.798944029,720,683,669,640.201055971,884.798944029,787.798944029,817.798944029,654,631,656,0.401001865349,0.00458917863648,0.0498416605532,0.999999956061,0.000113593958752,-0.000272174667071,-2.99364889222e-05,1793250308033475072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770.623756897,746,720,683,669,640.376243103,885,788,818,654,631,656,0.400996026812,0.00458834707181,0.0498423086501,0.999999956478,0.000112727273021,-0.000270994855868,-2.99722461129e-05,1793250308050141696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770.047499853,746,720,683,669,640.952500147,885,788,818,654,631,656,0.400990903156,0.00458661053055,0.0498423611324,0.999999956607,0.000111330729851,-0.000271113308751,-2.98096205631e-05,1793250308066808320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,745.492749533,719.492749533,683,669,641,884.492749533,788,817.492749533,654,631,656,0.400987278686,0.00458780862797,0.0498422194149,0.999999956256,0.000112952502937,-0.000271738704996,-2.97909310544e-05,1793250308083474944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,745,719.066989268,683.066989268,669,641,884,788,817,654.066989268,631,656,0.400984069934,0.00458908989391,0.0498420662979,0.999999955937,0.000114613040954,-0.000272217217092,-2.98047321414e-05,1793250308100141568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,745,719.683497184,683.683497184,669,641,884,788,817,654.683497184,631,656,0.400983166603,0.00458889083914,0.0498419627774,0.999999956258,0.000114367349028,-0.000271117255154,-2.99789887475e-05,1793250308116808448
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,745,720,683.143415576,669,640.143415576,884,788,817,654.143415576,631,656,0.40098487935,0.0045874090746,0.0498445850357,0.999999957529,0.000114285619072,-0.000266465657654,-2.96158021616e-05,1793250308150141440
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41430f71d5fe153b789e8ac5db80a396387b3ae9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,414 @@
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+209,3.483333333,pose1_to_pose2_press,0.620865474713,0.0101501551819,1.04003377434,0.591436152547,0.0188227890673,1.03970516603
+210,3.500000000,pose1_to_pose2_press,0.621071616054,0.0101501625313,1.04003366758,0.591642293514,0.0188227952866,1.03970506026
+211,3.516666667,pose1_to_pose2_press,0.621255111285,0.0101500661227,1.04003347992,0.591825790676,0.0188227055789,1.03970487413
+212,3.533333333,pose1_to_pose2_press,0.621418100379,0.0101501576535,1.0400333819,0.591988779019,0.0188227947872,1.03970478101
+213,3.550000000,pose1_to_pose2_press,0.621566432288,0.0101500532803,1.04003336301,0.592137110245,0.0188226883826,1.03970476499
+214,3.566666667,pose1_to_pose2_press,0.62170220246,0.0101501311844,1.04003360191,0.59227287925,0.0188227619893,1.0397049957
+215,3.583333333,pose1_to_pose2_press,0.621828371694,0.0101500974146,1.04003353736,0.592399050001,0.0188227336127,1.03970493517
+216,3.600000000,pose1_to_pose2_press,0.621944643061,0.0101500983219,1.04003349408,0.592515321882,0.0188227364073,1.03970489519
+217,3.616666667,pose1_to_pose2_press,0.62204887685,0.0101501391367,1.04003357443,0.592619555069,0.0188227751466,1.03970497335
+218,3.633333333,pose1_to_pose2_press,0.622140639674,0.010150138814,1.04003356595,0.592711317523,0.0188227739573,1.03970496512
+219,3.650000000,pose1_to_pose2_press,0.622218508122,0.0101501038949,1.04003361763,0.592789186079,0.0188227393608,1.03970501423
+220,3.666666667,pose1_to_pose2_press,0.622284454611,0.0101500795998,1.04003364138,0.592855132596,0.018822714654,1.03970503565
+221,3.683333333,pose1_to_pose2_press,0.622338615298,0.0101500528514,1.04003338304,0.59290929359,0.0188226892143,1.03970478643
+222,3.700000000,pose1_to_pose2_press,0.622384396566,0.0101500117903,1.04003346728,0.592955076732,0.0188226547332,1.03970487204
+223,3.716666667,pose1_to_pose2_press,0.622422641694,0.0101502495315,1.04003352853,0.592993318396,0.0188228804819,1.03970492056
+224,3.733333333,pose1_to_pose2_press,0.6224530412,0.0101500374033,1.04003349339,0.593023720754,0.0188226779977,1.03970489222
+225,3.750000000,pose1_to_pose2_press,0.622477989479,0.010150052059,1.04003348218,0.593048668462,0.0188226908781,1.03970488523
+226,3.766666667,pose1_to_pose2_press,0.622498034074,0.0101501407971,1.0400335643,0.593068711759,0.0188227750512,1.03970496136
+227,3.783333333,pose1_to_pose2_press,0.62251377437,0.0101501651565,1.0400336628,0.593084451878,0.0188227985248,1.03970505134
+228,3.800000000,pose1_to_pose2_press,0.622525503485,0.0101501239363,1.04003363601,0.593096181517,0.0188227591422,1.03970502421
+229,3.816666667,pose1_to_pose2_press,0.622533948372,0.0101500952901,1.04003342449,0.593104626605,0.0188227313182,1.03970481581
+230,3.833333333,pose1_to_pose2_press,0.622539442535,0.010150192131,1.04003374248,0.593110119755,0.0188228249667,1.03970513983
+231,3.850000000,pose1_to_pose2_press,0.622542884324,0.0101502363716,1.04003373275,0.593113560544,0.0188228658486,1.0397051314
+232,3.866666667,pose1_to_pose2_press,0.622544882603,0.0101502457379,1.04003356609,0.59311555805,0.0188228725252,1.03970496364
+233,3.883333333,pose1_to_pose2_press,0.622545585627,0.0101502488158,1.04003350754,0.593116260809,0.0188228746782,1.03970490472
+234,3.900000000,pose1_to_pose2_press,0.622546043476,0.0101502309459,1.04003347717,0.593116719037,0.0188228581465,1.03970487559
+235,3.916666667,pose1_to_pose2_press,0.622546426542,0.0101502159947,1.04003345176,0.593117102421,0.0188228443151,1.03970485121
+236,3.933333333,pose1_to_pose2_press,0.622546821537,0.0101502005779,1.04003342556,0.593117497743,0.0188228300529,1.03970482607
+237,3.950000000,pose1_to_pose2_press,0.622547268377,0.0101501831376,1.04003339592,0.593117944954,0.0188228139188,1.03970479763
+238,3.966666667,pose1_to_pose2_press,0.622547704935,0.0101501672974,1.04003336997,0.593118381873,0.0188227993526,1.03970477282
+239,3.983333333,pose1_to_pose2_press,0.622548072996,0.0101501924508,1.04003344479,0.593118750233,0.0188228255107,1.03970484739
+240,4.000000000,pose1_to_pose2_press,0.622548363029,0.0101502122717,1.04003350374,0.593119040502,0.0188228461233,1.03970490616
+241,4.016666667,pose1_to_pose2_press,0.62254840135,0.0101502148906,1.04003351153,0.593119078854,0.0188228488468,1.03970491392
+242,4.033333333,pose1_to_pose2_press,0.622548481671,0.0101502203797,1.04003352786,0.59311915924,0.0188228545552,1.03970493019
+243,4.050000000,pose1_to_pose2_press,0.622548528561,0.0101502235842,1.04003353739,0.593119206168,0.0188228578877,1.0397049397
+244,4.066666667,pose1_to_pose2_press,0.622548691612,0.0101502347271,1.04003357053,0.593119369352,0.0188228694758,1.03970497273
+245,4.083333333,pose1_to_pose2_press,0.622548959977,0.0101502447322,1.04003355897,0.593119637358,0.0188228782165,1.03970495994
+246,4.100000000,pose1_to_pose2_press,0.622549165793,0.0101502360323,1.04003342022,0.593119841766,0.0188228646242,1.03970481821
+247,4.116666667,pose1_to_pose2_press,0.622549331661,0.0101501743974,1.04003361353,0.593120009551,0.0188228095414,1.03970501274
+248,4.133333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095394,1.03970501274
+249,4.150000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095393,1.03970501274
+250,4.166666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095393,1.03970501274
+251,4.183333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095392,1.03970501274
+252,4.200000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095392,1.03970501274
+253,4.216666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009552,0.0188228095391,1.03970501274
+254,4.233333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095391,1.03970501274
+255,4.250000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.018822809539,1.03970501274
+256,4.266666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.018822809539,1.03970501274
+257,4.283333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.018822809539,1.03970501274
+258,4.300000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095389,1.03970501274
+259,4.316666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095389,1.03970501274
+260,4.333333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095389,1.03970501274
+261,4.350000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095389,1.03970501274
+262,4.366666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095388,1.03970501274
+263,4.383333333,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095388,1.03970501274
+264,4.400000000,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095387,1.03970501274
+265,4.416666667,pose2_hold,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095388,1.03970501274
+266,4.433333333,pose2_to_pose3_retreat,0.622549331661,0.0101501743974,1.04003361353,0.593120009553,0.0188228095386,1.03970501274
+267,4.450000000,pose2_to_pose3_retreat,0.622549298661,0.0101501359558,1.04003354404,0.59311997659,0.0188227712714,1.03970494461
+268,4.466666667,pose2_to_pose3_retreat,0.622549167449,0.0101501556457,1.04003351895,0.59311984529,0.0188227907435,1.03970492165
+269,4.483333333,pose2_to_pose3_retreat,0.622548767232,0.0101502581733,1.04003358577,0.593119444758,0.0188228922323,1.03970498933
+270,4.500000000,pose2_to_pose3_retreat,0.622548530284,0.0101502246849,1.0400335711,0.593119207761,0.0188228584745,1.03970497198
+271,4.516666667,pose2_to_pose3_retreat,0.622548477049,0.010150217161,1.04003356781,0.593119154515,0.0188228508901,1.03970496808
+272,4.533333333,pose2_to_pose3_retreat,0.622548171682,0.0101501740028,1.0400335489,0.593118849086,0.0188228073846,1.03970494571
+273,4.550000000,pose2_to_pose3_retreat,0.622546514726,0.0101501415697,1.04003350406,0.593117192057,0.0188227747974,1.039704903
+274,4.566666667,pose2_to_pose3_retreat,0.622541592226,0.0101501206212,1.04003349981,0.593112270774,0.0188227579978,1.03970489915
+275,4.583333333,pose2_to_pose3_retreat,0.622530619016,0.0101502351118,1.04003371064,0.593101295004,0.0188228635929,1.03970510447
+276,4.600000000,pose2_to_pose3_retreat,0.622512133141,0.0101502234028,1.0400334624,0.593082810416,0.0188228562219,1.03970485611
+277,4.616666667,pose2_to_pose3_retreat,0.622483326852,0.0101502002211,1.04003351157,0.593054004281,0.0188228336929,1.03970490775
+278,4.633333333,pose2_to_pose3_retreat,0.622444572962,0.0101500301998,1.04003352069,0.593015250088,0.0188226622857,1.03970491054
+279,4.650000000,pose2_to_pose3_retreat,0.622396676954,0.0101500974637,1.04003345339,0.592967355001,0.0188227328051,1.03970484882
+280,4.666666667,pose2_to_pose3_retreat,0.622341826774,0.0101501750023,1.04003358788,0.592912502879,0.0188228037967,1.03970497838
+281,4.683333333,pose2_to_pose3_retreat,0.622280163252,0.010150226499,1.04003345611,0.592850838003,0.0188228506883,1.03970484245
+282,4.700000000,pose2_to_pose3_retreat,0.622212550351,0.0101501656095,1.04003353114,0.592783226962,0.0188227962151,1.0397049177
+283,4.716666667,pose2_to_pose3_retreat,0.622138317582,0.0101500136018,1.04003329832,0.592708996497,0.0188226522357,1.03970469378
+284,4.733333333,pose2_to_pose3_retreat,0.622054055889,0.0101500643841,1.04003336857,0.592624734187,0.018822700539,1.03970476272
+285,4.750000000,pose2_to_pose3_retreat,0.621959021591,0.0101500330346,1.04003337204,0.592529699707,0.0188226686849,1.03970477297
+286,4.766666667,pose2_to_pose3_retreat,0.621851125632,0.0101500246114,1.04003339328,0.59242180324,0.0188226586034,1.03970479744
+287,4.783333333,pose2_to_pose3_retreat,0.62172871463,0.0101501244531,1.04003348357,0.592299391069,0.0188227541087,1.03970488039
+288,4.800000000,pose2_to_pose3_retreat,0.621590098758,0.010150154213,1.04003339487,0.592160776002,0.0188227866303,1.03970479431
+289,4.816666667,pose2_to_pose3_retreat,0.62143633535,0.0101502497331,1.04003363138,0.5920070108,0.018822875663,1.03970502166
+290,4.833333333,pose2_to_pose3_retreat,0.62126812012,0.010150202567,1.04003354613,0.591838796436,0.0188228315986,1.03970494245
+291,4.850000000,pose2_to_pose3_retreat,0.621083610631,0.0101501468247,1.04003343446,0.591654287634,0.0188227782533,1.03970483386
+292,4.866666667,pose2_to_pose3_retreat,0.620883990973,0.0101501828671,1.04003351285,0.591454668102,0.018822814712,1.0397049142
+293,4.883333333,pose2_to_pose3_retreat,0.620668210519,0.0101502357173,1.04003361723,0.591238888114,0.01882286907,1.03970502009
+294,4.900000000,pose2_to_pose3_retreat,0.620432366247,0.010150092955,1.04003328629,0.591003045644,0.01882273211,1.03970468323
+295,4.916666667,pose2_to_pose3_retreat,0.620174842794,0.0101502610541,1.04003361624,0.59074552079,0.0188228953178,1.03970501002
+296,4.933333333,pose2_to_pose3_retreat,0.619895781069,0.0101501524152,1.04003345593,0.59046645739,0.0188227807664,1.03970484864
+297,4.950000000,pose2_to_pose3_retreat,0.619595157787,0.0101500011376,1.04003339557,0.590165837598,0.0188226412883,1.03970479095
+298,4.966666667,pose2_to_pose3_retreat,0.619268669518,0.0101499830612,1.04003344536,0.589839349825,0.0188226249312,1.03970484356
+299,4.983333333,pose2_to_pose3_retreat,0.61892227513,0.0101500068172,1.04003350745,0.589492954304,0.0188226446077,1.039704903
+300,5.000000000,pose2_to_pose3_retreat,0.618557785286,0.0101500392602,1.04003352294,0.589128464202,0.018822675868,1.03970491467
+301,5.016666667,pose2_to_pose3_retreat,0.618175832393,0.0101501491094,1.04003349503,0.58874651001,0.0188227814285,1.03970489048
+302,5.033333333,pose2_to_pose3_retreat,0.61777796432,0.0101499357915,1.04003340665,0.588348645524,0.0188225798743,1.03970479928
+303,5.050000000,pose2_to_pose3_retreat,0.617366426555,0.0101500292333,1.04003351197,0.587937107631,0.0188226726678,1.03970490341
+304,5.066666667,pose2_to_pose3_retreat,0.616937060887,0.0101500749143,1.04003358689,0.587507740088,0.0188227120983,1.03970498366
+305,5.083333333,pose2_to_pose3_retreat,0.616482359142,0.0101501260786,1.04003364345,0.587053037136,0.0188227588409,1.0397050359
+306,5.100000000,pose2_to_pose3_retreat,0.615999805848,0.0101500958122,1.04003362078,0.586570484524,0.0188227305223,1.03970500859
+307,5.116666667,pose2_to_pose3_retreat,0.615487327848,0.0101500376699,1.04003357036,0.586058007956,0.0188226772161,1.03970496167
+308,5.133333333,pose2_to_pose3_retreat,0.614951264748,0.0101501442334,1.04003361173,0.585521944687,0.0188227831531,1.03970500548
+309,5.150000000,pose2_to_pose3_retreat,0.614396614193,0.0101500577321,1.04003339059,0.584967294763,0.0188226987474,1.03970478655
+310,5.166666667,pose2_to_pose3_retreat,0.61383002403,0.0101502117321,1.04003337848,0.584400700763,0.0188228397826,1.03970477715
+311,5.183333333,pose2_to_pose3_retreat,0.613251618992,0.0101501770808,1.04003349704,0.583822296593,0.0188228078095,1.03970489048
+312,5.200000000,pose2_to_pose3_retreat,0.612657991596,0.0101502239683,1.04003359898,0.583228669268,0.0188228549156,1.03970499199
+313,5.216666667,pose2_to_pose3_retreat,0.612048600999,0.0101501331582,1.04003363824,0.582619280202,0.0188227693667,1.03970503279
+314,5.233333333,pose2_to_pose3_retreat,0.611423615129,0.0101499630393,1.04003364994,0.581994296835,0.0188226076374,1.03970504189
+315,5.250000000,pose2_to_pose3_retreat,0.610780423342,0.0101499743457,1.04003364652,0.581351105139,0.0188226190786,1.03970503399
+316,5.266666667,pose2_to_pose3_retreat,0.610121675898,0.010150246437,1.04003350336,0.580692352878,0.0188228753216,1.03970490322
+317,5.283333333,pose2_to_pose3_retreat,0.609444609856,0.0101502246826,1.04003337662,0.580015285241,0.0188228482375,1.03970477845
+318,5.300000000,pose2_to_pose3_retreat,0.608744035948,0.0101500830007,1.04003338188,0.579314714806,0.0188227181695,1.03970477873
+319,5.316666667,pose2_to_pose3_retreat,0.608016397673,0.0101500612853,1.04003364869,0.578587077411,0.01882269922,1.03970504024
+320,5.333333333,pose2_to_pose3_retreat,0.607271954347,0.0101501227337,1.04003372639,0.577842633209,0.0188227574988,1.03970511318
+321,5.350000000,pose2_to_pose3_retreat,0.606513815242,0.010150127574,1.04003360205,0.577084494368,0.0188227633427,1.03970499197
+322,5.366666667,pose2_to_pose3_retreat,0.605740782151,0.0101500983253,1.0400336012,0.576311461753,0.0188227358934,1.03970499612
+323,5.383333333,pose2_to_pose3_retreat,0.604962778068,0.0101501322245,1.04003375102,0.575533456428,0.0188227654495,1.03970514201
+324,5.400000000,pose2_to_pose3_retreat,0.604189454884,0.0101501385881,1.04003365235,0.574760132995,0.0188227708961,1.03970504142
+325,5.416666667,pose2_to_pose3_retreat,0.603412192942,0.0101500888548,1.04003353375,0.573982871453,0.0188227226129,1.03970492525
+326,5.433333333,pose2_to_pose3_retreat,0.602630200813,0.0101500223069,1.04003364732,0.573200880658,0.0188226605319,1.03970503723
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+337,5.616666667,pose2_to_pose3_retreat,0.593933015466,0.0101501966359,1.04003350573,0.564503693805,0.0188228301338,1.03970490387
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+339,5.650000000,pose2_to_pose3_retreat,0.592381666305,0.0101501070361,1.04003369313,0.562952345212,0.0188227420451,1.03970508024
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+341,5.683333333,pose2_to_pose3_retreat,0.590862417777,0.0101502228649,1.04003350478,0.56143309728,0.0188228603646,1.03970490404
+342,5.700000000,pose2_to_pose3_retreat,0.590127472853,0.0101501380443,1.04003348196,0.560698152455,0.0188227760565,1.03970488594
+343,5.716666667,pose2_to_pose3_retreat,0.589413243766,0.0101501428577,1.04003385292,0.559983923072,0.0188227791899,1.03970523892
+344,5.733333333,pose2_to_pose3_retreat,0.588716639695,0.0101500793258,1.04003358709,0.559287319166,0.0188227161984,1.03970497327
+345,5.750000000,pose2_to_pose3_retreat,0.588035668476,0.0101501767475,1.04003363816,0.558606345512,0.0188228053638,1.03970502485
+346,5.766666667,pose2_to_pose3_retreat,0.587371786617,0.0101502445169,1.04003372864,0.55794246296,0.0188228709425,1.03970511954
+347,5.783333333,pose2_to_pose3_retreat,0.586720181537,0.0101501798958,1.04003359387,0.557290859589,0.0188228124093,1.03970499235
+348,5.800000000,pose2_to_pose3_retreat,0.58607768693,0.010150105617,1.04003344858,0.556648365407,0.0188227396466,1.03970484906
+349,5.816666667,pose2_to_pose3_retreat,0.585450914587,0.0101500118148,1.04003325334,0.556021595374,0.0188226538059,1.03970465702
+350,5.833333333,pose2_to_pose3_retreat,0.58484391872,0.0101500294443,1.04003358704,0.555414598261,0.0188226670643,1.03970498691
+351,5.850000000,pose2_to_pose3_retreat,0.584253802808,0.0101500106339,1.04003322381,0.554824482217,0.0188226478077,1.03970462414
+352,5.866666667,pose2_to_pose3_retreat,0.583681093911,0.0101500816694,1.04003340804,0.554251772596,0.0188227162925,1.0397048051
+353,5.883333333,pose2_to_pose3_retreat,0.583135668771,0.0101500717452,1.04003358184,0.553706347072,0.0188227050542,1.03970497826
+354,5.900000000,pose2_to_pose3_retreat,0.58261495288,0.0101499477905,1.04003346143,0.553185632329,0.0188225850482,1.03970485924
+355,5.916666667,pose2_to_pose3_retreat,0.582117376113,0.010149895468,1.04003329827,0.552688056675,0.0188225364855,1.03970469561
+356,5.933333333,pose2_to_pose3_retreat,0.581639063847,0.0101500449277,1.0400334094,0.552209743405,0.0188226824517,1.03970480446
+357,5.950000000,pose2_to_pose3_retreat,0.581178170194,0.0101500680234,1.04003350455,0.551748849039,0.0188227033156,1.03970490457
+358,5.966666667,pose2_to_pose3_retreat,0.58072753246,0.0101502256262,1.04003352665,0.551298207427,0.0188228474252,1.03970491817
+359,5.983333333,pose2_to_pose3_retreat,0.580289844492,0.0101500181343,1.04003363948,0.550860522552,0.0188226503592,1.03970502919
+360,6.000000000,pose2_to_pose3_retreat,0.579876083522,0.0101500557077,1.04003356603,0.550446761742,0.0188226885139,1.03970495702
+361,6.016666667,pose2_to_pose3_retreat,0.579490066611,0.0101500350553,1.04003344811,0.550060745978,0.0188226718595,1.03970484202
+362,6.033333333,pose2_to_pose3_retreat,0.579136372836,0.0101500242303,1.04003341546,0.549707052559,0.0188226621337,1.03970480644
+363,6.050000000,pose2_to_pose3_retreat,0.578810886473,0.0101501441127,1.04003350645,0.549381564113,0.0188227748565,1.03970489473
+364,6.066666667,pose2_to_pose3_retreat,0.57851124715,0.0101502900978,1.04003357683,0.549081922358,0.0188229127867,1.03970497018
+365,6.083333333,pose2_to_pose3_retreat,0.578228149027,0.0101500825899,1.04003324924,0.548798827419,0.0188227164557,1.03970465268
+366,6.100000000,pose2_to_pose3_retreat,0.577957670949,0.0101501230808,1.04003346451,0.548528349386,0.0188227569752,1.03970486439
+367,6.116666667,pose2_to_pose3_retreat,0.577697160674,0.0101500385072,1.04003338425,0.548267839735,0.0188226746686,1.03970478818
+368,6.133333333,pose2_to_pose3_retreat,0.577448839712,0.0101500311976,1.04003348222,0.548019518517,0.0188226660639,1.039704875
+369,6.150000000,pose2_to_pose3_retreat,0.577214819355,0.0101500522227,1.04003345134,0.547785498264,0.0188226874101,1.03970484342
+370,6.166666667,pose2_to_pose3_retreat,0.577001568034,0.010150107764,1.04003340237,0.54757224645,0.018822741332,1.03970479574
+371,6.183333333,pose2_to_pose3_retreat,0.576810052897,0.0101500616134,1.04003352831,0.547380731704,0.0188226964349,1.03970491972
+372,6.200000000,pose2_to_pose3_retreat,0.576642954839,0.0101500542764,1.0400337033,0.547213633299,0.0188226878645,1.03970509321
+373,6.216666667,pose2_to_pose3_retreat,0.576497219821,0.0101501518357,1.04003375703,0.547067896744,0.01882278013,1.03970514479
+374,6.233333333,pose2_to_pose3_retreat,0.576372253673,0.0101500738309,1.04003363005,0.546942931744,0.01882270605,1.03970501868
+375,6.250000000,pose2_to_pose3_retreat,0.576261049258,0.0101500769783,1.04003328057,0.546831725005,0.0188227016185,1.03970467738
+376,6.266666667,pose2_to_pose3_retreat,0.576162319208,0.0101501055561,1.04003347363,0.546732997546,0.0188227388571,1.03970486702
+377,6.283333333,pose2_to_pose3_retreat,0.576074629573,0.0101502064947,1.04003367978,0.546645306873,0.0188228362669,1.03970507346
+378,6.300000000,pose2_to_pose3_retreat,0.575996983724,0.0101501840786,1.04003370202,0.546567661249,0.0188228145839,1.03970509503
+379,6.316666667,pose2_to_pose3_retreat,0.575930123807,0.0101501519775,1.04003355757,0.546500801899,0.0188227843709,1.03970494955
+380,6.333333333,pose2_to_pose3_retreat,0.575873325575,0.0101501956943,1.04003343458,0.546444003039,0.0188228260351,1.03970482864
+381,6.350000000,pose2_to_pose3_retreat,0.575826628437,0.0101501136965,1.0400334987,0.546397307271,0.0188227488611,1.03970489729
+382,6.366666667,pose2_to_pose3_retreat,0.575788622352,0.0101500085088,1.04003341203,0.546359302709,0.0188226487082,1.03970480715
+383,6.383333333,pose2_to_pose3_retreat,0.57575858939,0.01015000617,1.04003350835,0.546329268844,0.0188226430915,1.03970489788
+384,6.400000000,pose2_to_pose3_retreat,0.575733780609,0.0101500211119,1.04003359417,0.546304461157,0.0188226618331,1.03970498604
+385,6.416666667,pose2_to_pose3_retreat,0.57571392336,0.0101500419917,1.04003358879,0.546284604629,0.0188226853299,1.03970498533
+386,6.433333333,pose2_to_pose3_retreat,0.57569938444,0.0101500737844,1.04003352276,0.546270064201,0.0188227120161,1.03970491973
+387,6.450000000,pose2_to_pose3_retreat,0.575688344235,0.0101501773409,1.04003375062,0.546259021967,0.0188228083419,1.03970513855
+388,6.466666667,pose2_to_pose3_retreat,0.575680153946,0.0101501166668,1.04003345582,0.546250833239,0.0188227533029,1.0397048524
+389,6.483333333,pose2_to_pose3_retreat,0.575674579821,0.0101500638263,1.0400333469,0.546245260228,0.0188227044525,1.03970474869
+390,6.500000000,pose2_to_pose3_retreat,0.575670937001,0.0101500622267,1.04003357407,0.546241617111,0.018822701724,1.03970497278
+391,6.516666667,pose2_to_pose3_retreat,0.575668387817,0.0101501175421,1.04003335859,0.546239066336,0.0188227516039,1.03970475635
+392,6.533333333,pose2_to_pose3_retreat,0.575666726768,0.0101501666807,1.04003316521,0.546237403904,0.0188227960231,1.03970456231
+393,6.550000000,pose2_to_pose3_retreat,0.575666022956,0.0101501846698,1.04003327599,0.546236699443,0.0188228117347,1.03970467106
+394,6.566666667,pose2_to_pose3_retreat,0.575665722416,0.0101501923515,1.04003332329,0.546236398626,0.0188228184439,1.0397047175
+395,6.583333333,pose2_to_pose3_retreat,0.575665717337,0.0101501924813,1.04003332409,0.546236393542,0.0188228185573,1.03970471829
+396,6.600000000,pose2_to_pose3_retreat,0.575665460192,0.0101501990538,1.04003336457,0.54623613616,0.0188228242977,1.03970475802
+397,6.616666667,pose2_to_pose3_retreat,0.575665190345,0.0101502059509,1.04003340704,0.546235866065,0.0188228303216,1.03970479972
+398,6.633333333,pose2_to_pose3_retreat,0.575665090096,0.0101501857594,1.04003340326,0.546235766418,0.0188228122071,1.03970479685
+399,6.650000000,pose2_to_pose3_retreat,0.575665020019,0.0101501711451,1.04003340019,0.546235696776,0.0188227990975,1.03970479444
+400,6.666666667,pose2_to_pose3_retreat,0.575664868289,0.0101501395027,1.04003339355,0.546235545991,0.018822770713,1.03970478921
+401,6.683333333,pose2_to_pose3_retreat,0.575664844123,0.0101501344631,1.04003339249,0.546235521976,0.0188227661923,1.03970478838
+402,6.700000000,pose2_to_pose3_retreat,0.575664720934,0.0101501087726,1.0400333871,0.546235399553,0.0188227431469,1.03970478414
+403,6.716666667,pose2_to_pose3_retreat,0.575664683243,0.0101501009124,1.04003338545,0.546235362097,0.018822736096,1.03970478284
+404,6.733333333,pose2_to_pose3_retreat,0.57566466937,0.0101500980192,1.04003338484,0.54623534831,0.0188227335007,1.03970478237
+405,6.750000000,pose2_to_pose3_retreat,0.575664543581,0.0101500717867,1.04003337933,0.546235223304,0.0188227099691,1.03970477804
+406,6.766666667,pose2_to_pose3_retreat,0.575664467424,0.0101500559044,1.040033376,0.54623514762,0.018822695722,1.03970477541
+407,6.783333333,pose2_to_pose3_retreat,0.575664464105,0.0101500552124,1.04003337585,0.546235144323,0.0188226951013,1.0397047753
+408,6.800000000,pose2_to_pose3_retreat,0.575664419689,0.0101500522052,1.04003341692,0.546235099826,0.0188226917425,1.03970481431
+409,6.816666667,pose2_to_pose3_retreat,0.57566437396,0.0101500613245,1.04003354317,0.546235053316,0.018822697951,1.03970493362
+410,6.833333333,pose2_to_pose3_retreat,0.575664346762,0.0101500667482,1.04003361826,0.546235025654,0.0188227016435,1.03970500459
+411,6.850000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.546234998769,0.0188227052322,1.03970507356
+412,6.866666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72457ecafe99f8b0c7bab7554657979b783e8f05
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59f3b071caafd553afd281d12ecaebe722fd671f148fe885879e93c9c6a206b
+size 25719517
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36d14f7033a1b6f7d28a11cf2ed5ef18628197c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+11,0.183333333,BASELINE,770,746,721,684.374595091,665.625404909,641,885,787,818,653,631,656,0.401021733384,0.00448400138023,0.0698487066598,0.999999986733,1.83303934751e-05,-0.00016079073024,1.85398798697e-05,1793250310175896320
+12,0.200000000,BASELINE,770,746,721,684.964459157,665.035540843,641,885,787,818,653,631,656,0.401022149469,0.00448331433474,0.069849401983,0.999999986816,1.99196728179e-05,-0.000160029794252,1.90032408999e-05,1793250310192562944
+13,0.216666667,BASELINE,770,745.4586179,721,684.4586179,665,641,885,787,818,653.5413821,631,656,0.401022499509,0.0044851064146,0.0698498270818,0.999999986891,2.15017134061e-05,-0.000159377168121,1.88304431468e-05,1793250310209229312
+14,0.233333333,BASELINE,770,745.118018267,721,684,665,641,885,787,818,654,631,656,0.401022786867,0.00448644526918,0.0698501671253,0.999999986966,2.22384683113e-05,-0.000158821756822,1.86944237936e-05,1793250310225896192
+15,0.250000000,BASELINE,770,745.696774271,721,684,665,641,885,787,818,654,631,656,0.401022846052,0.00448539421726,0.0698502427554,0.999999987049,1.96770802084e-05,-0.00015861875696,1.88612191191e-05,1793250310242562816
+16,0.266666667,BASELINE,770.273722545,746,721,684,665.273722545,641,885,787,818,654,631,656,0.40102298946,0.00448506016459,0.0698502167547,0.999999987072,1.81763873122e-05,-0.000158663887388,1.87339124692e-05,1793250310259229184
+17,0.283333333,BASELINE,770.848681347,746,721,684,665.848681347,641,885,787,818,654,631,656,0.401023225558,0.00448551518169,0.0698500789078,0.999999987036,1.78430074539e-05,-0.000158982089381,1.82829416472e-05,1793250310275895808
+18,0.300000000,BASELINE,770.56321581,746,721,684.43678419,666,641,885,787,818,654,631,656,0.401022953985,0.0044844164302,0.069849585577,0.99999998694,1.62703812227e-05,-0.000159758824375,1.82248201196e-05,1793250310292562688
+19,0.316666667,BASELINE,770,745.971167248,721,685,665.971167248,641,885,787,818,654,631,656,0.401022548302,0.00448294440754,0.0698490269151,0.99999998683,1.45970532971e-05,-0.000160599775203,1.82992048248e-05,1793250310309229312
+20,0.333333333,BASELINE,770,745.393381845,721,685,665.393381845,641,885,787,818,654,631,656,0.401023041674,0.00448493208191,0.0698496418907,0.999999986918,1.94340034233e-05,-0.000159545067421,1.82248108636e-05,1793250310325895936
+21,0.350000000,BASELINE,770,745,721,685,665,641,885,787,818,654,631,656,0.401022976187,0.00448627257428,0.069849857604,0.999999986915,2.23855562119e-05,-0.000159186056307,1.81516866994e-05,1793250310342562560
+22,0.366666667,BASELINE,770,745,721,685,665,641,885,787,818,654,631,656,0.401021718505,0.0044862324553,0.0698492215846,0.99999998676,2.1315055067e-05,-0.000160311151117,1.80812713599e-05,1793250310359229440
+23,0.383333333,BASELINE,770,745,721,685,665,641,885,787,818,654,630.65978303,656,0.401022013417,0.00448572403053,0.0698494387138,0.99999998681,2.08748209352e-05,-0.000160034196825,1.82577478752e-05,1793250310375896064
+24,0.400000000,BASELINE,770,745,721,685,665,641,885,787,818,654,630.071294134,656,0.401023441328,0.00448487386155,0.0698502784246,0.99999998701,2.08945214366e-05,-0.00015873410312,1.86143926927e-05,1793250310392562688
+25,0.416666667,BASELINE,770,745,721,685,665,641,884.491578358,787,818,654,630.508421642,656,0.401022664477,0.00448536728549,0.069850256956,0.999999986806,2.12196808626e-05,-0.000159957765283,1.8726717986e-05,1793250310409230080
+26,0.433333333,BASELINE,770,745,721,685,665.086821653,641,884,787.086821653,817.913178347,654,631,656,0.401021885793,0.00448580642692,0.0698501937999,0.999999986643,2.12304728566e-05,-0.000160968361093,1.87564276469e-05,1793250310425897472
+27,0.450000000,BASELINE,770,745,721,685,665.664620151,641,884,787.664620151,817.335379849,654,631,656,0.401022815426,0.00448489123027,0.0698505662147,0.999999987034,1.92254014439e-05,-0.000158806723813,1.85093998723e-05,1793250310442563584
+28,0.466666667,BASELINE,770,745.239522805,721,685,666,641,884.239522805,788,817.239522805,654,630.760477195,656,0.401023285354,0.00448434632946,0.0698510141299,0.999999987214,1.93652982251e-05,-0.000157657579206,1.84831542395e-05,1793250310459230208
+29,0.483333333,BASELINE,770,745.810419102,721,685,666,641,884.810419102,788,817.810419102,654,630.189580898,656,0.401023119292,0.00448431372323,0.0698515664979,0.999999987104,2.2472702125e-05,-0.000157909191671,1.87623548993e-05,1793250310475896576
+30,0.500000000,BASELINE,770.395503151,746,721,684.604496849,665.604496849,641,885,787.604496849,818,654,630.395503151,656,0.401022827453,0.004484868958,0.0698509948687,0.999999986986,2.33013871798e-05,-0.00015852638567,1.88388690707e-05,1793250310492563456
+31,0.516666667,BASELINE,770.987640994,746,721,684.012359006,665.012359006,641,885,787.012359006,818,654,630.987640994,656,0.40102247308,0.00448571645324,0.069849864415,0.999999986866,2.29971477267e-05,-0.000159325338041,1.88146123679e-05,1793250310509230080
+32,0.533333333,BASELINE,771,746,721,684,665.566783552,641,885,787.566783552,817.433216448,653.433216448,631,656,0.401023660683,0.00448672060387,0.0698508590221,0.999999987147,2.24776735433e-05,-0.000157684875284,1.83237970641e-05,1793250310525896192
+33,0.550000000,BASELINE,770.855305649,746,721,684,665.855305649,641,885,787.855305649,817.144694351,653.144694351,631,656,0.40102434039,0.00448731969565,0.0698513476243,0.999999987288,2.19023189701e-05,-0.000156912189727,1.79561542784e-05,1793250310542563072
+34,0.566666667,BASELINE,770.280234724,746,721,684,665.280234724,641,885,787.280234724,817.719765276,653.719765276,631,656,0.401023411656,0.00448670405406,0.0698501964354,0.999999986993,2.11744015436e-05,-0.00015887527639,1.79844557481e-05,1793250310559229696
+35,0.583333333,BASELINE,770,745.704121417,721,684.295878583,665,641,885.295878583,787,818.295878583,654,631,655.704121417,0.401022466225,0.00448612147777,0.0698493973646,0.99999998676,2.14684430867e-05,-0.000160272851137,1.81862289064e-05,1793250310575896064
+36,0.600000000,BASELINE,770,745.127017282,721,684.872982718,665,641,885.872982718,787,818.872982718,654,631,655.127017282,0.401021504925,0.00448557032919,0.0698489329735,0.999999986588,2.27338322235e-05,-0.000161132920495,1.85528827798e-05,1793250310592562688
+37,0.616666667,BASELINE,770.4613181,745,721,684.5386819,665,641,885.5386819,787.4613181,818.5386819,653.5386819,631,655.4613181,0.401022537211,0.00448638544254,0.0698498952748,0.999999986808,2.35864824614e-05,-0.000159647428784,1.84619968713e-05,1793250310609229568
+38,0.633333333,BASELINE,770.948365605,745,721,684.051634395,665,641,885,787.948365605,818,653,631,656,0.401024023709,0.00448741042061,0.0698511787019,0.999999987122,2.40300299023e-05,-0.000157624917565,1.82438371815e-05,1793250310625896448
+39,0.650000000,BASELINE,770.37017024,745,721,684.62982976,665,641,885,787.37017024,818,653,631,656,0.401024404856,0.00448664360444,0.0698516310486,0.999999987301,2.1489421968e-05,-0.000156876244332,1.80445103977e-05,1793250310642563328
+40,0.666666667,BASELINE,770,745.205745469,721,685,665.205745469,641,885,787,818,653.205745469,631,656,0.401023945506,0.00448617557681,0.0698514893362,0.999999987283,2.01967345914e-05,-0.000157175493737,1.79616591294e-05,1793250310659229952
+41,0.683333333,BASELINE,770,745.777604611,721,685,665.777604611,641,885,787,818,653.777604611,631,656,0.401021990534,0.00448623922832,0.0698502905255,0.999999986919,2.11246589869e-05,-0.000159339468612,1.80860701718e-05,1793250310675896320
+42,0.700000000,BASELINE,770,746,721,684.639008828,666,641,885,787,818,654,631,656,0.401021729937,0.00448555242436,0.0698500604235,0.999999986839,2.0845376821e-05,-0.000159870308466,1.81587396134e-05,1793250310692562688
+43,0.716666667,BASELINE,770,746,721,684.048286351,666,641,885,787,818,654,631,656,0.401022547623,0.00448438803774,0.0698504467984,0.99999998694,1.97978399906e-05,-0.00015936183684,1.81984811939e-05,1793250310709229568
+44,0.733333333,BASELINE,770,746,721,684.531984903,665.468015097,641,885,787,818,654,631,656,0.401021981578,0.00448499279716,0.0698493950248,0.999999986731,2.16892713227e-05,-0.000160438499409,1.81053595436e-05,1793250310725896448
+45,0.750000000,BASELINE,770.110513659,746,721.110513659,685,665.110513659,641,885,787,818,654,631,656,0.401021520747,0.00448557570203,0.0698487099673,0.999999986562,2.30700467469e-05,-0.000161294534788,1.80828547947e-05,1793250310742563072
+46,0.766666667,BASELINE,770.685627943,746,721.685627943,685,665.685627943,641,885,787,818,654,631,656,0.401022020071,0.00448540466086,0.0698501047877,0.999999986705,2.12041659756e-05,-0.000160629844584,1.84069458171e-05,1793250310759229952
+47,0.783333333,BASELINE,770.739627607,746,722,685,666,641,885.260372393,787,818,653.739627607,631,656,0.401022378427,0.00448559660141,0.0698507753452,0.999999986808,2.10139894404e-05,-0.000160002305381,1.85066958022e-05,1793250310775896832
+48,0.800000000,BASELINE,770.165328982,746,722,685,666,641,885.834671018,787,818,653.165328982,631,656,0.401022566821,0.00448622618236,0.0698505726724,0.999999986864,2.28441786112e-05,-0.00015941955837,1.83359619443e-05,1793250310792563456
+49,0.816666667,BASELINE,770,746,721.576860375,684.576860375,665.576860375,641,885.576860375,787,818,653.423139625,631,656,0.40102238357,0.00448650156644,0.0698507351607,0.999999986877,2.29006476634e-05,-0.000159333249013,1.82967637226e-05,1793250310809229824
+50,0.833333333,BASELINE,770,746,721,684.016843226,665.016843226,641,885,787,818,654,631,656,0.401022026431,0.00448663250218,0.0698510155699,0.999999986867,2.22908249963e-05,-0.000159478327493,1.83103607358e-05,1793250310825896704
+51,0.850000000,BASELINE,770,746,721,684.594133002,665.594133002,641,885,787,818,654,631,656,0.401020882452,0.00448672145722,0.0698503077925,0.999999986656,2.33695939687e-05,-0.000160644902979,1.83113464169e-05,1793250310842563328
+52,0.866666667,BASELINE,770.170659542,746,721,685,665.829340458,641,885.170659542,787,818,654,631,656,0.401020403624,0.00448676501125,0.0698497799128,0.999999986572,2.33410705569e-05,-0.000161172785573,1.82923015744e-05,1793250310859229696
+53,0.883333333,BASELINE,770.74537898,746,721,685,665.25462102,641,885.74537898,787,818,654,631,656,0.401021499634,0.00448670107216,0.0698496779657,0.99999998679,2.06908803285e-05,-0.000160188474985,1.8225831717e-05,1793250310875896064
+54,0.900000000,BASELINE,770.672313273,746,721,685,665.327686727,641,885.672313273,787,818,654,631,656,0.401021729745,0.00448626300212,0.0698496953812,0.99999998683,1.94595394855e-05,-0.000160089656084,1.82359884421e-05,1793250310892562688
+55,0.916666667,BASELINE,770.083969462,746,721,685,665.916030538,641,885.083969462,787,818,654,631,656,0.401021271082,0.00448552733112,0.0698498077433,0.999999986734,1.93568167792e-05,-0.000160695198015,1.83070974757e-05,1793250310909229568
+56,0.933333333,BASELINE,770,746,721,685,665.503824566,641,885,787.496175434,818,654,631,656,0.401022118166,0.00448510352616,0.0698507841299,0.999999986961,1.8908439604e-05,-0.000159344233903,1.8189840774e-05,1793250310925896192
+57,0.950000000,BASELINE,770,746,721,685,665.074557794,641,885,787.925442206,818,654,631.074557794,656,0.401022986639,0.00448490744216,0.0698516781521,0.999999987167,1.89013541448e-05,-0.000158058406733,1.80898281741e-05,1793250310942562816
+58,0.966666667,BASELINE,770,746,721,685,665.650267619,641,885,787.349732381,818,654,631.650267619,656,0.401022537695,0.00448589303084,0.0698510516724,0.999999986881,2.22472815973e-05,-0.000159399813188,1.83165130183e-05,1793250310959229440
+59,0.983333333,BASELINE,770,746,721,685,665.775550635,641,885,787,818,654,631.775550635,656,0.401021875157,0.00448608029378,0.0698506133651,0.99999998669,2.28779034285e-05,-0.000160486859577,1.84397687229e-05,1793250310975896320
+60,1.000000000,BASELINE,770,746,721,685,665.20373372,641,885,787,818,654,631.20373372,656,0.401020882054,0.00448503203343,0.0698504662814,0.999999986655,1.9306201295e-05,-0.000161180247528,1.84029530501e-05,1793250310992562944
+61,1.016666667,BASELINE,770,746,721,684.618331599,665.381668401,641,885,787,818,653.618331599,631,656,0.401021862475,0.00448464713953,0.0698511950396,0.999999986907,1.95639835676e-05,-0.000159564529313,1.85116603664e-05,1793250311009229568
+62,1.033333333,BASELINE,770,746,721,684.025410114,665.974589886,641,885,787,818,653.025410114,631,656,0.40102393524,0.00448462941838,0.0698524085754,0.999999987312,2.19413818928e-05,-0.000156670723073,1.87009145155e-05,1793250311025896192
+63,1.050000000,BASELINE,770,746,721,684,666,641,885.554128801,787,818,653,630.445871199,656,0.401022286684,0.00448596532397,0.0698510734639,0.999999986985,2.30998254685e-05,-0.000158606876896,1.84546595076e-05,1793250311042563072
+64,1.066666667,BASELINE,770,745.867606421,721,684,665.867606421,641,885.867606421,787,818,653,630.132393579,656,0.401021408831,0.00448679070038,0.0698503438621,0.999999986794,2.35697561829e-05,-0.000159750752912,1.83404133629e-05,1793250311059229696
+65,1.083333333,BASELINE,770,745.291603175,721,684,665.291603175,641,885.291603175,787,818,653,630.708396825,656,0.401023671656,0.00448570237335,0.0698520254975,0.999999987179,2.19155693314e-05,-0.000157515333654,1.87338254686e-05,1793250311075896576
+66,1.100000000,BASELINE,770,745.283045702,721,684.283045702,665,641,885,787,818,653.283045702,631,656,0.401024262637,0.00448524723116,0.0698523159599,0.999999987271,2.13711346402e-05,-0.000156993973904,1.88327878593e-05,1793250311092563200
+67,1.116666667,BASELINE,770,745.856305874,721,684.856305874,665,641,885,787,818,653.856305874,631,656,0.401023139432,0.0044854413107,0.0698511800145,0.999999987067,2.19645591742e-05,-0.0001582300862,1.86298429114e-05,1793250311109229824
+68,1.133333333,BASELINE,770,746,721,685,665,641,885,787,818,653.556764043,631,656,0.401022878003,0.00448621144597,0.0698506398121,0.999999986883,2.3367798932e-05,-0.000159201015056,1.85195101137e-05,1793250311125896448
+69,1.150000000,BASELINE,770,746,721,684.965907708,665.034092292,641,885,787,818,653.034092292,631,656,0.401022911803,0.00448705961858,0.0698503826396,0.999999986727,2.49243078771e-05,-0.000159948449777,1.84546187804e-05,1793250311142563328
+70,1.166666667,BASELINE,770,746,721,684.385413188,665.614586812,641,885,787,818,653.614586812,631,656,0.401023057084,0.00448607013238,0.0698514677082,0.999999986957,2.45956681081e-05,-0.000158535621973,1.86215085972e-05,1793250311159229952
+71,1.183333333,BASELINE,770,746,721,684.19245984,665.80754016,641,885,787,818,653.80754016,631,656,0.401023025087,0.00448552078346,0.0698521233021,0.999999987066,2.41778380078e-05,-0.000157911816777,1.86603170456e-05,1793250311175896576
+72,1.200000000,BASELINE,770,746,721,684.765153809,665.234846191,641,885,787,818,653.234846191,631,656,0.401022642847,0.00448584099346,0.0698519304029,0.999999986936,2.35837985803e-05,-0.000158846847305,1.84460810066e-05,1793250311192563712
+73,1.216666667,BASELINE,770,746,721,684.65168159,665.34831841,641,885,787,817.65168159,653.34831841,630.65168159,655.65168159,0.401022335502,0.00448521977704,0.0698516099954,0.999999986909,2.19400766274e-05,-0.000159273304075,1.82149232531e-05,1793250311209230080
+74,1.233333333,BASELINE,770,746,721,684.061238632,665.938761368,641,885,787,817.061238632,653.938761368,630.061238632,655.061238632,0.401022080218,0.00448394415234,0.0698512009538,0.999999986951,1.95666950105e-05,-0.000159346238874,1.79720028194e-05,1793250311225896704
+75,1.250000000,BASELINE,770.519165012,746,721,684.519165012,665.480834988,641,885,787.519165012,817.519165012,654,630.519165012,655.519165012,0.401022176325,0.00448587550678,0.069850923103,0.999999986857,2.16941887352e-05,-0.000159652287252,1.80480283947e-05,1793250311242563328
+76,1.266666667,BASELINE,770.901975853,746,721,684.901975853,665,641,885,787.901975853,818,654,631,656,0.401022351517,0.00448780130313,0.0698507971123,0.999999986796,2.37992826729e-05,-0.000159733179395,1.80966305848e-05,1793250311259229440
+77,1.283333333,BASELINE,770.324987052,746,721,684.324987052,665,641,885,787.324987052,818,654,631,656,0.401022714458,0.00448788664592,0.0698513389612,0.999999986997,2.32500342116e-05,-0.0001585821078,1.78308978857e-05,1793250311275896064
+78,1.300000000,BASELINE,770,745.750341508,721,684.249658492,665,641,885.249658492,787,818,654,631,656,0.401022340495,0.00448710859671,0.0698513288769,0.99999998703,2.22456134306e-05,-0.000158499196891,1.79549232923e-05,1793250311292562688
+79,1.316666667,BASELINE,770,745.178717926,721,684.821282074,665,641,885.821282074,787,818,654,631,656,0.401021016207,0.00448521709816,0.0698506070076,0.999999986847,2.06541924445e-05,-0.000159793809617,1.8581589356e-05,1793250311309229312
+80,1.333333333,BASELINE,770.406872304,745,721,685,665,641,885.593127696,787,818,653.593127696,631,656,0.401020534648,0.0044857009063,0.0698501282178,0.999999986755,2.17573066295e-05,-0.00016025014971,1.8337633861e-05,1793250311325896192
+81,1.350000000,BASELINE,770.998815486,745,721,685,665,641,885.001184514,787,818,653.001184514,631,656,0.401020436414,0.00448726515177,0.0698497599957,0.999999986701,2.40860631829e-05,-0.000160325191285,1.76976654824e-05,1793250311342563072
+82,1.366666667,BASELINE,770.422380619,745.577619381,721,685,665,641,885,787,818,653.577619381,630.422380619,655.422380619,0.401022232749,0.00448610269736,0.0698509454705,0.999999987021,2.2583500246e-05,-0.000158487931428,1.81511606188e-05,1793250311359229696
+83,1.383333333,BASELINE,770,746,721,685,665,641,885,787,818,654,630.155515459,655.155515459,0.401023153214,0.00448538424861,0.0698516344953,0.999999987145,2.1716787705e-05,-0.000157793254385,1.8427964897e-05,1793250311375896320
+84,1.400000000,BASELINE,770,746,721,685,665,641,885,787,818,654,630.731031078,655.731031078,0.401021697957,0.00448587968978,0.0698509743459,0.999999986748,2.25880611432e-05,-0.000160194702393,1.822165957e-05,1793250311392562944
+85,1.416666667,BASELINE,770,746,721,685,665.305153431,641,885.305153431,787,818,654,631,656,0.401020754732,0.00448683150263,0.0698505482342,0.999999986513,2.34580657738e-05,-0.000161541541785,1.80894652698e-05,1793250311409229824
+86,1.433333333,BASELINE,770,746,721,685,665.878053278,641,885.878053278,787,818,654,631,656,0.401020260772,0.00448818374314,0.0698503274707,0.999999986426,2.43269570805e-05,-0.000161963050864,1.80222971613e-05,1793250311425896448
+87,1.450000000,BASELINE,770,745.531187001,721,685,665.531187001,641,886,787,818,653.531187001,631,656,0.401020006727,0.00448623442536,0.0698506823063,0.999999986533,2.27750139894e-05,-0.000161467915965,1.85287703827e-05,1793250311442563328
+88,1.466666667,BASELINE,770.062302113,745.062302113,721,685,665,641,885.937697887,787,818,653,631,656,0.401019953747,0.00448390561325,0.0698510957622,0.999999986675,2.07951354366e-05,-0.000160798315011,1.90367888699e-05,1793250311459229952
+89,1.483333333,BASELINE,770.638468341,745.638468341,721,685,665,641,885.361531659,787,818,653,631,656,0.401021024016,0.00448581057522,0.0698507088947,0.999999986701,2.06851180541e-05,-0.000160734218101,1.8278098664e-05,1793250311475896576
+90,1.500000000,BASELINE,770.786207415,745.786207415,721,685,665,641,885,787,818,653.213792585,631,656,0.401021396137,0.00448731440178,0.0698504447984,0.999999986671,2.15321822908e-05,-0.000160870257779,1.77709137843e-05,1793250311492563456
+91,1.516666667,BASELINE,770.212301474,745.212301474,721,685,665,641,885,787,818,653.787698526,631,656,0.401020592291,0.00448814255357,0.0698503874988,0.99999998654,2.39913598613e-05,-0.000161343408586,1.7687365878e-05,1793250311509230080
+92,1.533333333,BASELINE,770.372122037,745,721,685,665.372122037,641,885,787,817.627877963,654,631,656,0.401020820146,0.00448804815777,0.0698503940489,0.999999986519,2.55012877312e-05,-0.000161210397525,1.79671524739e-05,1793250311525896704
+93,1.550000000,BASELINE,770.962720571,745,721,685,665.962720571,641,885,787,817.037279429,654,631,656,0.401021653723,0.00448741212529,0.0698504380858,0.999999986564,2.64539020281e-05,-0.000160721502933,1.84602563108e-05,1793250311542563328
+94,1.566666667,BASELINE,770.457908675,745.542091325,721,684.457908675,665.457908675,641,885,787,817.542091325,653.457908675,630.457908675,656,0.401022756492,0.00448711474384,0.0698514785595,0.999999986905,2.36909660349e-05,-0.000159054335483,1.81858667182e-05,1793250311559230208
+95,1.583333333,BASELINE,770,745.880070584,721,684.119929416,665.119929416,641,885.119929416,787.119929416,818,653.119929416,630.119929416,656,0.401023298654,0.00448678729024,0.0698522623879,0.999999987123,2.12058629964e-05,-0.000158058974563,1.79531553406e-05,1793250311575896576
+96,1.600000000,BASELINE,770,745.305176916,721,684.694823084,665.694823084,641,885.694823084,787.694823084,818,653.694823084,630.694823084,656,0.401021645298,0.00448625919878,0.0698518179272,0.999999986836,2.07244065327e-05,-0.000159913334142,1.80747185777e-05,1793250311592563200
+97,1.616666667,BASELINE,770.269753952,745,721,684.730246048,665.730246048,641,885.730246048,787.730246048,818,653.730246048,631,656,0.40102134621,0.00448635498501,0.069851578532,0.999999986722,2.17050968287e-05,-0.000160483911248,1.8187643108e-05,1793250311609229824
+98,1.633333333,BASELINE,770.844726877,745,721,684.155273123,665.155273123,641,885.155273123,787.155273123,818,653.155273123,631,656,0.401022579437,0.00448715667124,0.0698515711625,0.9999999868,2.43401648917e-05,-0.000159601924653,1.82907931782e-05,1793250311625896448
+99,1.650000000,BASELINE,770.566520982,745,721,684.433479018,665.433479018,641,885,787,818,653.433479018,631,656,0.401022255047,0.00448631502571,0.0698514454157,0.999999986807,2.36547842441e-05,-0.000159660620247,1.82939830691e-05,1793250311642563072
+100,1.666666667,BASELINE,770,745,721,685,666,641,885,787.026606564,818,654,631,656,0.401021312261,0.00448497329608,0.069851217263,0.999999986771,2.18301562683e-05,-0.000160147759905,1.8265051531e-05,1793250311659229952
+101,1.683333333,BASELINE,770,745,721,685,666,641,885,787.604759494,818,654,631,656,0.401019495995,0.00448586802742,0.0698497741261,0.999999986422,2.18544864418e-05,-0.000162302129645,1.83368678974e-05,1793250311675897344
+102,1.700000000,BASELINE,770,745.180727183,721,685,666,641,885.180727183,788,818,654,631,656,0.401018689747,0.00448624811828,0.0698491778474,0.999999986259,2.20948388242e-05,-0.000163254684773,1.84598140474e-05,1793250311692564224
+103,1.716666667,BASELINE,770,745.751972888,721,685,666,641,885.751972888,788,818,654,631,656,0.401020065964,0.00448551616469,0.069850411475,0.999999986506,2.28019758501e-05,-0.000161610337146,1.86932423378e-05,1793250311709230336
+104,1.733333333,BASELINE,770,746,721,685,665.665832532,641,885.665832532,787.665832532,818,654,631,656,0.401020382865,0.00448522458319,0.0698507566289,0.99999998653,2.21103854292e-05,-0.000161569865416,1.86062035695e-05,1793250311725896704
+105,1.750000000,BASELINE,770,746,721,685,665.075236091,641,885.075236091,787.075236091,818,654,631,656,0.401019886883,0.00448527092849,0.0698504199976,0.999999986381,2.03454582784e-05,-0.000162760154396,1.82732490905e-05,1793250311742563072
+106,1.766666667,POSE1_TO_POSE2_PRESS,770,745,721,684,665,641,886,787,818,654,631,656,0.401019066578,0.00448574498216,0.0698502082805,0.999999986464,1.9662507255e-05,-0.000162389926786,1.77491828292e-05,1793250311773495552
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,745.578086247,721,684.578086247,665,641,885.421913753,787,818,653.421913753,631,656,0.401020179456,0.00448586512981,0.0698507498585,0.999999986568,2.07542858954e-05,-0.000161582640704,1.79867184087e-05,1793250311790162688
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,745.845544263,721,684.845544263,665,641,885,787,818,653,631,656,0.401021262617,0.00448613493259,0.0698513664976,0.999999986678,2.26576318917e-05,-0.000160620311275,1.82371845321e-05,1793250311806829568
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,745.273812617,721,684.273812617,665,641,885,787,818,653,631,656,0.401022265499,0.00448680904205,0.0698521859211,0.999999986792,2.67534995203e-05,-0.000159239118273,1.85225837223e-05,1793250311823495936
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,745.309961996,721,684.309961996,665,641,885,787,818,653.309961996,630.690038004,656,0.40102175448,0.00448775787919,0.0698515183221,0.999999986637,2.81345242159e-05,-0.000159999288015,1.8274815016e-05,1793250311840162304
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,745.90480507,721,684.90480507,665,641,885,787,818,653.90480507,630.09519493,656,0.401019852061,0.00448895921406,0.0698494840246,0.999999986241,2.70203802435e-05,-0.000162727549855,1.75370202649e-05,1793250311856828416
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,746,721,684.515848236,665,641,885,787,818,653.515848236,630.484151764,656,0.401019262685,0.00448866063567,0.0698496394852,0.999999986242,2.7123830805e-05,-0.000162694970768,1.76518967643e-05,1793250311873495040
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.060563709,746,721,684,665,641,885.060563709,787,818,653.060563709,631,656,0.401019034601,0.00448807933837,0.0698502134101,0.999999986305,2.71912000052e-05,-0.000162264628437,1.79084022749e-05,1793250311890161408
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.637126341,746,721,684,665,641,885.637126341,787,818,653.637126341,631,656,0.401019753299,0.00448752403072,0.0698507980959,0.999999986254,2.49746959333e-05,-0.000162926908485,1.79874778311e-05,1793250311906828032
+115,1.916666667,POSE1_TO_POSE2_PRESS,771,746,721,684,665.217395621,641,885.782604379,787,818,654,631,656,0.401020550659,0.00448658448018,0.069851209827,0.999999985909,2.27261107556e-05,-0.000165327806756,1.82203073916e-05,1793250311923495168
+116,1.933333333,POSE1_TO_POSE2_PRESS,771,746,721,684,665.803959248,641,885.196040752,787,818,654,631,656,0.401021481594,0.00448499243182,0.0698513278566,0.99999998505,2.0423047623e-05,-0.000170681120558,1.87142326314e-05,1793250311940162048
+117,1.950000000,POSE1_TO_POSE2_PRESS,770.614324557,745.614324557,721,684.385675443,665.614324557,641,885,787,818,654,631,656,0.401035129196,0.00448448295305,0.0698574531703,0.999999985091,1.98359925128e-05,-0.000170435744284,1.93762323696e-05,1793250311956828672
+118,1.966666667,POSE1_TO_POSE2_PRESS,770.0350417,745.0350417,721,684.9649583,665.0350417,641,885,787,818,654,631,656,0.401055160509,0.00448451691943,0.0698665941147,0.999999985587,2.01103658466e-05,-0.000167379850138,2.0122604828e-05,1793250311973495040
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,745,721.542197796,685,665,641,885,787.542197796,818,654,631,656,0.401101370234,0.00448614688038,0.0698818686808,0.999999988371,2.29486064543e-05,-0.000149468205536,1.97842745432e-05,1793250311990161664
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,745.119084547,721.880915453,684.880915453,665,641,885.119084547,787.880915453,818,653.880915453,631,656,0.401153616756,0.0044871642771,0.069896660404,0.999999990887,2.47769370317e-05,-0.000131278223916,1.94267137773e-05,1793250312006828544
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,745.695122746,721.304877254,684.304877254,665,641,885.695122746,787.304877254,818,653.304877254,631,656,0.401222560052,0.00448543681664,0.069908083957,0.999999992878,2.20965803087e-05,-0.00011569052657,1.92633529707e-05,1793250312023495168
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,746,721,684.275975306,665,641,885.724024694,787,818,653,631,656,0.401295307873,0.00448479955449,0.0699147623799,0.999999993847,1.96226018333e-05,-0.000107629993387,1.83773859995e-05,1793250312040161792
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,746,721,684.862240815,665,641,885.137759185,787,818,653,631,656,0.401372333268,0.00448538804649,0.0699161056603,0.999999993874,1.73806629362e-05,-0.000108032556348,1.66789636977e-05,1793250312056828928
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,745.555666854,721,685,665,641,885,787,817.555666854,653.444333146,631,656,0.40146540067,0.00448614066757,0.0699145800721,0.99999999357,1.50899588301e-05,-0.000111433850376,1.46703637799e-05,1793250312073495808
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.025004264,745,721,684.974995736,665,641.025004264,885.025004264,787,817.025004264,653.974995736,631,656,0.401564603672,0.00448691489242,0.0699122350961,0.999999993139,1.27188005661e-05,-0.00011577071705,1.25324919488e-05,1793250312090162432
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.602594519,745,721,684.397405481,665,641.602594519,885.602594519,787,817.602594519,653.397405481,631,656,0.401690509309,0.00448705245592,0.0699112556162,0.999999992662,8.90064632278e-06,-0.000120428235275,9.64321879766e-06,1793250312106828544
+127,2.116666667,POSE1_TO_POSE2_PRESS,771,745.182526585,721,684.182526585,665.182526585,642,886,787,818,653.182526585,631,656,0.401826275356,0.00448761363765,0.0699114173142,0.999999992406,6.11931874229e-06,-0.000122901932443,6.76290087276e-06,1793250312123494912
+128,2.133333333,POSE1_TO_POSE2_PRESS,771,745.767623541,721,684.767623541,665.767623541,642,886,787,818,653.767623541,631,656,0.401983788951,0.00448910912788,0.0699140959298,0.999999992709,5.62475824118e-06,-0.000120559116102,3.90233447436e-06,1793250312140161536
+129,2.150000000,POSE1_TO_POSE2_PRESS,771,746,721.349052358,685,666,641.650947642,885.650947642,787,817.650947642,653.650947642,630.650947642,656,0.402163558939,0.00448995950551,0.0699167078916,0.999999993087,2.43981561197e-06,-0.000117558095751,2.14746445643e-07,1793250312156828160
+130,2.166666667,POSE1_TO_POSE2_PRESS,771,746,721.928064618,685,666,641.071935382,885.071935382,787,817.071935382,653.071935382,630.071935382,656,0.402357991722,0.00449038487533,0.0699192759415,0.999999993477,-2.51758325589e-06,-0.000114123442425,-4.01769369093e-06,1793250312173494784
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.493702567,745.493702567,721.493702567,685,665.493702567,641,885,787,817.506297433,653.506297433,630.506297433,656,0.402581254494,0.00449018096919,0.0699232834295,0.999999993802,-9.32737544131e-06,-0.00011062123339,-8.47564515825e-06,1793250312190161664
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.083838264,745.083838264,721.083838264,685,665,641,885.083838264,787.083838264,818,654,631,656,0.402814254971,0.00448995633055,0.0699273683125,0.999999994053,-1.63450526686e-05,-0.000107031931685,-1.30486340549e-05,1793250312206828800
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.657979135,745.657979135,721.657979135,685,665,641,885.657979135,787.657979135,818,654,631,656,0.403080284984,0.00449013251772,0.0699307116,0.999999994267,-2.30416622122e-05,-0.000102989340616,-1.81072925938e-05,1793250312223495680
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.760987508,746,722,685,665,641,885.760987508,787.760987508,818,653.760987508,631,656,0.403368359687,0.0044901858383,0.0699367832609,0.999999995049,-2.74062565299e-05,-9.29703969155e-05,-2.25073802765e-05,1793250312240162304
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.169798344,746,722,685,665,641,885.169798344,787.169798344,818,653.169798344,631,656,0.403688916464,0.00449005811919,0.0699468750859,0.999999996513,-2.83347063416e-05,-7.4145503722e-05,-2.59370861826e-05,1793250312256828416
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.412317228,746,721.587682772,685,665.412317228,641,885.412317228,787.412317228,818,653,631,655.587682772,0.404026388216,0.0044846382285,0.0699516082777,0.999999997043,-2.60157053438e-05,-6.77674504014e-05,-2.53992665557e-05,1793250312273495040
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.990776604,746,721.009223396,685,665.990776604,641,885.990776604,787.990776604,818,653,631,655.009223396,0.404370675804,0.00447708587113,0.0699541822219,0.999999997274,-2.23881525149e-05,-6.64048191165e-05,-2.32627428106e-05,1793250312290161664
+138,2.300000000,POSE1_TO_POSE2_PRESS,771,746,721.565363098,685.565363098,666,641,886,787.434636902,818,653,631,655.565363098,0.404751941204,0.00447584779143,0.0699565292224,0.999999997525,-1.59252532254e-05,-6.44081843539e-05,-2.34148435007e-05,1793250312306828800
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.859861056,746,721.859861056,686,665.859861056,641,886,787,818,653,630.859861056,656,0.405145748934,0.00447646909438,0.0699593803416,0.999999997789,-1.16283702968e-05,-6.08960438919e-05,-2.40357927462e-05,1793250312323495936
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.284302012,746,721.284302012,686,665.284302012,641,886,787,818,653,630.284302012,656,0.405576664754,0.00448254972463,0.0699638092128,0.999999998172,-1.42041741334e-05,-5.2707055036e-05,-2.59982639131e-05,1793250312340162304
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.29841564,746,721,686,665,641.29841564,886.29841564,787,817.70158436,653.29841564,630.29841564,656,0.40602069247,0.00448785954444,0.0699617354064,0.99999999793,-1.86301419958e-05,-5.50867367026e-05,-2.75453493671e-05,1793250312356829184
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.888121026,746,721,686,665,641.888121026,886.888121026,787,817.111878974,653.888121026,630.888121026,656,0.406477519032,0.00449241696077,0.0699533142009,0.999999996982,-2.48620939566e-05,-6.7782717693e-05,-2.86869683704e-05,1793250312373496576
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.528766361,746,721,686,665,641.528766361,887,787,817.471233639,654,631,656,0.406968510981,0.00449870503517,0.0699373493429,0.999999995355,-9.64000418599e-06,-9.10014436333e-05,-3.0247704149e-05,1793250312390163200
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,746,721.051952232,686.051952232,665.051952232,641.051952232,887,787,818,653.948047768,631,656,0.407474646357,0.00450533890939,0.0699223833288,0.999999993203,9.75817053482e-06,-0.000111714471276,-3.19283418764e-05,1793250312406829312
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,746,721.62415548,686.62415548,665.62415548,641.62415548,887,787,818,653.37584452,631,656,0.408052321181,0.00451137776481,0.0699351073449,0.999999995798,2.06725181221e-05,-8.26627207125e-05,-3.38269796455e-05,1793250312423495936
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.195876708,746,721.804123292,687,666,642,887,787.195876708,818,653.195876708,631,656,0.408645246125,0.00451786050908,0.0699475468212,0.999999997559,2.46968092544e-05,-5.46180419548e-05,-3.58985551936e-05,1793250312440162304
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.766675285,746,721.233324715,687,666,642,887,787.766675285,818,653.766675285,631,656,0.40926736084,0.00452519288763,0.0699594416673,0.99999999874,1.55330445973e-05,-2.85009716612e-05,-3.83011457966e-05,1793250312456828672
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.64605901,745.64605901,721,687,666,642,887,788,818.35394099,653.64605901,631,656,0.409890643147,0.00453179947516,0.0699575042333,0.999999998563,2.10932249808e-05,-2.95310812448e-05,-3.94581784306e-05,1793250312473495296
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.047408187,745.047408187,721,687,666,642,887,788,818.952591813,653.047408187,631,656,0.410514732684,0.00453790426064,0.0699460033543,0.999999997315,3.68333347282e-05,-4.93303711331e-05,-3.97540496578e-05,1793250312490161920
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,745.530133044,721,687,666,642,887,787.469866956,818.469866956,653,631,656,0.411182291051,0.00454554741133,0.0699452695018,0.999999996237,5.27481377809e-05,-5.57785721202e-05,-4.04075710093e-05,1793250312506828544
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.105845024,746,721,687.105845024,666,641.894154976,887,787.105845024,818,653.105845024,631,656,0.411868390519,0.00455291416588,0.0699509800798,0.999999995726,6.57463666013e-05,-5.02967370922e-05,-4.11830670878e-05,1793250312523495680
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.681495692,746,721,687.681495692,666,641.318504308,887,787.681495692,818,653.681495692,631,656,0.412620193228,0.00455846685835,0.0699811849074,0.999999996938,6.57323455154e-05,3.04143853303e-06,-4.23634357504e-05,1793250312540162048
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.736847383,746,721,688,666,641.263152617,887,787.736847383,818,654,631,656,0.413384891126,0.00456501255779,0.070007643236,0.99999999559,7.00316015733e-05,4.53371139532e-05,-4.31203805661e-05,1793250312556828416
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.147750964,746,721,688,666,641.852249036,887,787.147750964,818,654,631,656,0.41416556125,0.00457278820763,0.0700294611127,0.999999993152,7.96733315281e-05,7.39554311329e-05,-4.33528680715e-05,1793250312573494784
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,746,721,688.431432364,666,642,887.431432364,787.431432364,818.431432364,654,631,656,0.414896837574,0.00458221460602,0.0700022533914,0.999999994266,9.4986277984e-05,2.29564716948e-05,-4.37957272385e-05,1793250312590161408
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746,721,689.007345141,666,642,887.992654859,787.992654859,819,653.992654859,631,656,0.415612720562,0.00459209507967,0.06995877013,0.999999991279,0.00011192981158,-5.42858257215e-05,-4.43381596396e-05,1793250312606828032
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,721,689.587008118,666,642,887.412991882,787.412991882,819,653.412991882,631,656,0.416417622042,0.00459429660998,0.0699259577681,0.999999988102,0.000107992375261,-9.95468869049e-05,-4.71516289421e-05,1793250312623494912
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,721,690,666.164667063,642,887.164667063,787,818.835332937,653.164667063,631,656,0.417237176089,0.00459599798618,0.0699109333203,0.99999998602,0.000106720599434,-0.000118990790374,-4.91120890509e-05,1793250312640161792
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,746,721,690,666.737360209,642,887.737360209,787,818.262639791,653.737360209,631,656,0.418093037463,0.00459646003778,0.0699399852846,0.999999989751,0.000112054024974,-7.44627373551e-05,-4.89588902445e-05,1793250312656828416
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.68015574,746,721,690,666.36031148,642,888,787,818.31984426,654,630.68015574,656,0.418973628122,0.00459463300779,0.0699670931297,0.999999992041,0.000111357603464,-3.35258320405e-05,-4.89230161034e-05,1793250312673495040
+161,2.683333333,POSE1_TO_POSE2_PRESS,769.089378047,746,721,690,665.178756093,642,888,787,818.910621953,654,630.089378047,656,0.4198751664,0.00459086694428,0.0699925541505,0.99999999322,0.000105553423433,4.36908430558e-06,-4.89865252639e-05,1793250312690161664
+162,2.700000000,POSE1_TO_POSE2_PRESS,769.492502724,746.492502724,721,690,665.492502724,642,888,787.492502724,819,654,630,656,0.420790227573,0.00458246699907,0.0700148375137,0.999999993581,9.49891479323e-05,3.72902345522e-05,-4.92392924129e-05,1793250312706828288
+163,2.716666667,POSE1_TO_POSE2_PRESS,769.92778894,746.92778894,721,690.07221106,666,641.92778894,888,787.92778894,819.07221106,654,630.07221106,655.92778894,0.421700075259,0.00457482237416,0.0700301477848,0.999999993396,8.52510459876e-05,5.89029451587e-05,-4.96964655856e-05,1793250312723494912
+164,2.733333333,POSE1_TO_POSE2_PRESS,769.352169545,746.352169545,721,690.647830455,666,641.352169545,888,787.352169545,819.647830455,654,630.647830455,655.352169545,0.422556772678,0.0045782018413,0.0700007950518,0.99999999485,8.71878250877e-05,7.86144649612e-06,-5.13434346954e-05,1793250312740161536
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,691,666,641.228108723,887.771891277,787,820,654,630.771891277,655.228108723,0.423390086753,0.00458367171593,0.0699500332878,0.999999992009,8.82529030474e-05,-7.29459922588e-05,-5.35856759781e-05,1793250312756828160
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,691,666,641.81572973,887.18427027,787,820,654,630.18427027,655.81572973,0.424186547485,0.00459243619184,0.0698655296723,0.999999974388,8.79441301666e-05,-0.000200666248061,-5.67660997915e-05,1793250312773494528
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,691.397036801,666,642,887.397036801,787,819.602963199,654,630.397036801,656,0.425119651981,0.00459618179186,0.0698596855598,0.99999997419,9.14869531425e-05,-0.000199747331818,-5.78842524768e-05,1793250312790161408
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,721,691.975459324,666,642,887.975459324,787,819.024540676,654,630.975459324,656,0.426115181948,0.00459763452475,0.069889776939,0.999999983822,9.67893726079e-05,-0.000140059778113,-5.8060259326e-05,1793250312806828544
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.549667277,746,721,691.450332723,666,642,888.549667277,787,819.549667277,654,631,656,0.427084619954,0.00459831977883,0.0699513300131,0.999999991326,0.00010413171531,-5.80471345757e-05,-5.59980375373e-05,1793250312823495168
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,746,721,691,666,642,889,787,820,653.876554359,631,656,0.428053030058,0.00459918243266,0.0700081251108,0.99999999233,0.000109601966811,1.88437651998e-05,-5.45185459601e-05,1793250312840162048
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,746,721,691,666,642,889,787,820,653.303660223,631,656,0.42902190668,0.00460081477988,0.0700425218423,0.999999989934,0.000107927125693,7.34857373564e-05,-5.55217545283e-05,1793250312856828416
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,746,721,691,666,642,889,787,820,653.279134204,631,656,0.429954508216,0.00460136583747,0.0700511262096,0.999999988955,0.000104845166295,8.88248048938e-05,-5.66294971375e-05,1793250312873494784
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,746,721,691,666,642,889,787,820,653.873094808,631,656,0.430846196196,0.00460069734349,0.0700306402052,0.999999991519,0.000100176164227,5.98353995593e-05,-5.78551403358e-05,1793250312890161152
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.54365025,746,721,691.45634975,666,642,888.54365025,787,820,654,631,656,0.431682325954,0.00460103272208,0.0699563354978,0.999999990675,0.000103746180678,-6.71406561159e-05,-5.81327874779e-05,1793250312906828032
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,721,692,666,641.963625592,888,787,820.036374408,654,631,656,0.432511428265,0.0046012238158,0.0698748244774,0.999999970944,0.000108626734576,-0.00020717368231,-5.82354732496e-05,1793250312923494912
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,721,692,666,641.388363324,888,787,820.611636676,654,631,656,0.433460064185,0.00459523629471,0.0699031958374,0.999999982562,9.97572794311e-05,-0.000146206467,-5.95622208137e-05,1793250312940162048
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.190898265,746,721,692.190898265,666.381796531,641.190898265,888.190898265,787,820.809101735,654,631,656,0.434397649083,0.00459082305101,0.0699406585081,0.999999990839,9.40955549719e-05,-7.6384101433e-05,-6.02835936091e-05,1793250312956828928
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.778470278,746,721,692.778470278,667.556940557,641.778470278,888.778470278,787,820.221529722,654,631,656,0.435312270876,0.00458968104868,0.069997012316,0.999999993623,9.50992775315e-05,1.18386813052e-05,-5.97470387035e-05,1793250312973495296
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,746,720.639178551,692.639178551,667.278357102,642,889,787,820.360821449,653.639178551,631,656,0.436217466294,0.00458935401738,0.0700259597259,0.99999999207,9.42913551686e-05,5.83631155953e-05,-5.96929001403e-05,1793250312990161920
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,746,720.059987083,692.059987083,666.119974166,642,889,787,820.940012917,653.059987083,631,656,0.437116956794,0.0045895202086,0.0700383207135,0.999999990764,9.23870211006e-05,7.96516026605e-05,-5.99307213256e-05,1793250313006828544
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.481914346,746,720,692,666,642,889,787,821,653.518085654,631,656,0.437962824886,0.00458962832378,0.0700078340165,0.999999992955,8.92763882794e-05,4.8544154988e-05,-6.13372549381e-05,1793250313023494912
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.095426522,720,692.095426522,666,641.904573478,888.904573478,787.095426522,821,654,631,656,0.438779825663,0.00459019491384,0.0699658635217,0.999999994214,8.74798381748e-05,-3.83161171164e-06,-6.24896928578e-05,1793250313040161536
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746.669743201,720,692.669743201,666,641.330256799,888.330256799,787.669743201,821,654,631,656,0.439483049014,0.00459309599553,0.0698911060782,0.999999984989,9.2977328856e-05,-0.000132560966501,-6.16893402031e-05,1793250313056828160
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,747,720.249769172,693,665.750230828,641,888.249769172,787.750230828,821,654,631,656,0.440204688723,0.00459860381518,0.0698410137624,0.999999969791,0.000100950696811,-0.000215511902463,-6.14964073449e-05,1793250313073495040
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,747,720.837520793,693,665.162479207,641,888.837520793,787.162479207,821,654,631,656,0.440951249004,0.00460763901818,0.0698242977907,0.999999963797,0.000112274371566,-0.000236516426485,-6.21254234497e-05,1793250313090162176
+186,3.100000000,POSE1_TO_POSE2_PRESS,769.420585221,747,721,693.420585221,665,641,889,787,821,654,631,656,0.441751941463,0.00461349007901,0.0698587337923,0.999999973697,0.000122312003252,-0.000184084975223,-6.13101362072e-05,1793250313106828800
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,747,720.998161347,694,665,641,889,787,821.001838653,653.998161347,631,656,0.442572970531,0.00461812887048,0.0699125373442,0.999999984116,0.000131836609504,-0.000103894662429,-5.99484533105e-05,1793250313123495424
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,747,720.423222939,694,665,641,889,787,821.576777061,653.423222939,631,656,0.443286417718,0.00462409574573,0.0699116282683,0.999999982327,0.00013460332779,-0.000116599154039,-6.02743118771e-05,1793250313140161536
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,746.848238302,720,693.848238302,665,640.848238302,889,787,822,653.151761698,631,656,0.443975620897,0.00462977378261,0.0698979632523,0.999999977492,0.000139121292157,-0.000148431783374,-6.02495720485e-05,1793250313156828160
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+247,4.116666667,HOLD_POSE2,770,746,720,694.579003852,655.420996148,637,889.420996148,785.420996148,822.579003852,653.579003852,631,656,0.454228838101,0.00472328304155,0.0695561016416,0.999999736636,0.000257416137728,-0.000675326789041,-6.63257247363e-05,1793250314145544448
+248,4.133333333,HOLD_POSE2,770,746,720,694.841950255,655,637,889.158049745,785.158049745,823,654,631,656,0.454229854641,0.00472517059897,0.0695564402285,0.999999736834,0.000258457149251,-0.000674625479969,-6.64230208477e-05,1793250314162210304
+249,4.150000000,HOLD_POSE2,770,746,720,694.262792222,655,637,889.737207778,785.737207778,823,654,631,656,0.454229055715,0.00472533806938,0.0695559734388,0.9999997364,0.000259787517037,-0.000674738323124,-6.66233580528e-05,1793250314178875904
+250,4.166666667,HOLD_POSE2,769.686790457,746,720,694.313209543,655.313209543,637,890,785.686790457,822.686790457,654,631,656,0.454228683032,0.00472418126245,0.06955606946,0.999999736549,0.000259534096734,-0.000674626097049,-6.65112983838e-05,1793250314195542528
+251,4.183333333,HOLD_POSE2,769.11341051,746,720,694.88658949,655.88658949,637,890,785.11341051,822.11341051,654,631,656,0.454228664413,0.00472192443226,0.0695566329853,0.999999737181,0.000257965088122,-0.000674326915128,-6.61397433484e-05,1793250314212209152
+252,4.200000000,HOLD_POSE2,769,746,720,695,655.527801092,637,889.527801092,785.472198908,822.472198908,654,631,656,0.454229853898,0.00472281866869,0.0695570143688,0.999999737088,0.000258371866227,-0.000674323852465,-6.59885789648e-05,1793250314228876032
+253,4.216666667,HOLD_POSE2,769.059981307,746,720,695,655.059981307,637,889,786,822.940018693,654,631,656,0.454231169748,0.00472435453117,0.0695572792631,0.999999736867,0.000259153740546,-0.000674357353213,-6.59368908785e-05,1793250314245542656
+254,4.233333333,HOLD_POSE2,769.640454382,746,720,695,655.640454382,637,889,786,822.359545618,654,631,656,0.454230997342,0.00472471628459,0.0695569230164,0.999999737084,0.000258963244387,-0.000674074573658,-6.62768783189e-05,1793250314262209536
+255,4.250000000,HOLD_POSE2,770,746.219725394,720,694.780274606,655.780274606,637,889.219725394,786,822.219725394,654,631,656,0.454230926354,0.00472469921521,0.069556737872,0.999999737084,0.000258590822204,-0.000674198123526,-6.64794254883e-05,1793250314278876416
+256,4.266666667,HOLD_POSE2,770,746.797040066,720,694.202959934,655.202959934,637,889.797040066,786,822.797040066,654,631,656,0.454231020416,0.00472406563547,0.0695568311861,0.999999736729,0.000257922326859,-0.000674982949035,-6.64582972156e-05,1793250314295543296
+257,4.283333333,HOLD_POSE2,770,746.620160434,720,694.379839566,655,637,890,785.620160434,823,654,631,656,0.454231485759,0.00472286095073,0.0695568111099,0.999999737054,0.000257130067222,-0.000674819229957,-6.62945953329e-05,1793250314312209920
+258,4.300000000,HOLD_POSE2,770,746.03438723,720,694.96561277,655,637,890,785.03438723,823,654,631,656,0.454232152395,0.00472134663592,0.069556729558,0.999999737748,0.000256270707536,-0.000674141248467,-6.60535958073e-05,1793250314328876544
+259,4.316666667,HOLD_POSE2,770,746,720,695,655,637,889.455271741,785.544728259,823,654,631,656,0.454232086993,0.00472210497519,0.0695573149877,0.999999737003,0.00025797255996,-0.000674602279241,-6.60051933324e-05,1793250314345542912
+260,4.333333333,HOLD_POSE2,770,746,720,694.877175771,655.122824229,636.877175771,889.122824229,786,823,654,631,656,0.454231993762,0.00472293578983,0.0695577855578,0.999999736483,0.000259360603762,-0.000674836465674,-6.60493274395e-05,1793250314362209536
+261,4.350000000,HOLD_POSE2,770,746,720,694.301308661,655.698691339,636.301308661,889.698691339,786,823,654,631,656,0.454231966277,0.00472351114009,0.0695576790326,0.999999737136,0.000259001978131,-0.000673971911972,-6.6390482675e-05,1793250314378876160
+262,4.366666667,POSE2_TO_POSE3_RETREAT,770,747,720,694,655,637,889,785,822,654,631,656,0.454232650767,0.00472286474635,0.0695575187989,0.99999973804,0.000257331113732,-0.000673285435571,-6.62441044723e-05,1793250314419087616
+263,4.383333333,POSE2_TO_POSE3_RETREAT,770,747,720,694,655,637,889,785.627278791,822.627278791,653.372721209,631,656,0.454230278226,0.00472433657867,0.0695554391702,0.999999735792,0.000257254364106,-0.000676611046727,-6.65809631094e-05,1793250314435754240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769.758044589,746.758044589,720,694.241955411,655,637,889,786,823,653.241955411,631,656,0.454229560706,0.00472486842405,0.0695550240214,0.999999734908,0.000258368575708,-0.000677491477738,-6.65957890181e-05,1793250314452421120
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769.161819879,746.161819879,720,694.838180121,655,637,889,786,823,653.838180121,631,656,0.454231266453,0.0047240239478,0.0695570459912,0.999999736021,0.000261226583796,-0.000674791694812,-6.61390970715e-05,1793250314469087744
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.419398805,746,720,694.580601195,655,637,889.419398805,785.580601195,823,654,631,656,0.454232077988,0.00472303984731,0.0695570905961,0.999999736472,0.000260181902091,-0.000674550119767,-6.59096475377e-05,1793250314485754368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.995027569,746,720,694.004972431,655,637,889.995027569,785.004972431,823,654,631,656,0.454232556421,0.00472200373553,0.0695563986141,0.999999736673,0.000257683431941,-0.000675224250197,-6.57648479451e-05,1793250314502420992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,746.565924053,720,694,655,637,890,785.565924053,823,653.434075947,631,656,0.454232754703,0.00472140180194,0.0695564432694,0.99999973736,0.000256405314382,-0.000674697839196,-6.57127253983e-05,1793250314519087616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,746.857556381,720.142443619,694,655,636.857556381,889.857556381,785.857556381,823,653.142443619,631,656,0.454233120053,0.00472078703813,0.0695567647623,0.999999738167,0.00025522207677,-0.000673957360156,-6.56465270843e-05,1793250314535753984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,746.263060856,720.736939144,694,655,636.263060856,889.263060856,785.263060856,823,653.736939144,631,656,0.454234023348,0.00472011955076,0.0695579444432,0.999999739341,0.000254306199271,-0.000672570723937,-6.55330958444e-05,1793250314552420608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.677899475,746,720.677899475,694,655,636.322100525,889.322100525,785.322100525,822.677899475,653.677899475,631,656.322100525,0.454231884147,0.00471976683887,0.0695568751644,0.999999738695,0.000253935950909,-0.00067367335903,-6.54979495744e-05,1793250314569087488
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.100146665,746,720.100146665,694,655,636.899853335,889.899853335,785.899853335,822.100146665,653.100146665,631,656.899853335,0.454227330106,0.00471966396537,0.0695540208786,0.999999736599,0.000253998770296,-0.000676751737321,-6.55249383572e-05,1793250314585754368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.475416755,746,720.475416755,694,655,636.524583245,889.524583245,785.524583245,822.475416755,653.475416755,631,656.524583245,0.454208364869,0.00472033708737,0.0695457419626,0.99999972694,0.000254387643941,-0.000690731672337,-6.55555947279e-05,1793250314602421248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,746,720.948091557,694,655,636.051908443,889.051908443,785,822.948091557,654,631.051908443,656,0.45418449476,0.00472117949776,0.0695358728555,0.999999714815,0.000255046400072,-0.000707830710662,-6.55461380717e-05,1793250314619087872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,746,720.357194853,694,655,636.642805147,889.642805147,785,822.357194853,654,631.642805147,656,0.454141071967,0.00472209016884,0.0695213028642,0.99999969558,0.000257797564336,-0.000733581371748,-6.51121850179e-05,1793250314635754240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,746,720,694,655,637,889.771120722,785,822,654,631.771120722,656,0.45409063571,0.00472261430616,0.0695070215753,0.999999678877,0.000259222150395,-0.000755548684518,-6.47803588809e-05,1793250314652420864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,655,637,889.192417429,785,822,654,631.192417429,656,0.454029479918,0.00472254765711,0.069493181543,0.999999666685,0.000258619166345,-0.00077173345064,-6.46046256985e-05,1793250314669087488
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,746,720,694,655,637,889.38362086,785.38362086,822,653.61637914,631,656,0.453959940947,0.00472289288719,0.0694854765609,0.999999658019,0.000260537993519,-0.000782306521078,-6.38581353574e-05,1793250314685754112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,746,720,694,655,637,889.958331618,785.958331618,822,653.041668382,631,656,0.453886226136,0.00472344328321,0.0694808275815,0.999999651137,0.00026371298978,-0.000790084282836,-6.28273384684e-05,1793250314702420736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,655,637,890,786,822,653,631,656,0.453797656601,0.0047212846217,0.0694859126365,0.999999657177,0.000263772976554,-0.000782544124677,-6.07878556917e-05,1793250314719087104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,746,720,694.104503206,655,636.895496794,889.895496794,786,822,653.104503206,631,656,0.453702791435,0.00471951956857,0.0694907811018,0.999999662875,0.000264163060036,-0.000775253289441,-5.87323701543e-05,1793250314735753984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,746,720,694.683555766,655,636.316444234,889.316444234,786,822,653.683555766,631,656,0.453584610834,0.00472050353757,0.0694912107021,0.999999662741,0.000267157861394,-0.000774532095799,-5.69622735071e-05,1793250314752420608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.730980374,746,720,695,655,636,889.269019626,785.730980374,822,654,631,656.269019626,0.453451597316,0.00472033338345,0.0694888339208,0.999999658916,0.000269828316621,-0.000778677959223,-5.49615043844e-05,1793250314769087232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769.13779091,746,720,695,655,636,889.86220909,785.13779091,822,654,631,656.86220909,0.453300710076,0.00471877250577,0.0694830754373,0.999999650576,0.00027210793309,-0.000788688647906,-5.26827740347e-05,1793250314785753856
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.441697802,746,720,694.558302198,655.441697802,636.441697802,890,785.441697802,822,653.558302198,631,656.558302198,0.453129281758,0.00471804707126,0.069480620137,0.999999647523,0.000274782285014,-0.000791817387435,-4.97405822943e-05,1793250314802420480
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889.982987745,786,822,653,631,656,0.45295021457,0.0047175138185,0.0694790754583,0.999999645872,0.000277618910557,-0.000793103643882,-4.6576367427e-05,1793250314819087104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889.408618068,786,822,653,631,656,0.452724504022,0.00471499518113,0.0694746205384,0.999999637566,0.000281858981553,-0.00080224634807,-4.27150417687e-05,1793250314835753984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889,786,822,653.171418234,631,656,0.452494156052,0.00471286557213,0.0694720731849,0.99999963153,0.000285726984953,-0.00080857365124,-3.88495007345e-05,1793250314852420864
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889,786,822,653.765424266,631,656,0.452252375655,0.00471169501256,0.0694742284477,0.999999631321,0.000288677751831,-0.00080796030558,-3.4973566977e-05,1793250314869087744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889,786,822,654,631,656,0.451983624146,0.00471112887698,0.0694746891556,0.999999628592,0.000294199369572,-0.000809533089357,-3.03069272566e-05,1793250314885754112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746,720,694,656,637,889,786,822,654,631,656,0.451697270442,0.00471095720788,0.0694740439428,0.999999624159,0.000301398806542,-0.000812532611048,-2.51242477898e-05,1793250314902420736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,656.499445826,637.499445826,889,786,821.500554174,653.500554174,631,656,0.451374152562,0.00470706802067,0.0694772884885,0.999999624842,0.000303285545531,-0.000811146692273,-1.93715785872e-05,1793250314919087616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.074830496,746,720,694,657,638,889,785.925169504,821,653,631,656,0.451040534643,0.00470316685127,0.0694821874177,0.999999627271,0.000305403480049,-0.000807467253652,-1.35250773826e-05,1793250314935753984
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.64847501,746,720,694,657,638,889,785.35152499,821,653,631,656,0.450674313914,0.0047029665697,0.0694941584027,0.999999636134,0.000314465622142,-0.000792959442684,-7.63278598192e-06,1793250314952420608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770.769978578,746,720,694,657.230021422,638,889,785.230021422,820.769978578,653.230021422,631,656,0.450298029245,0.0047015846103,0.0695068393675,0.999999645418,0.000320974371675,-0.000778547439035,-1.57571233705e-06,1793250314969087488
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.175926729,746,720,694,657.824073271,638,889,785.824073271,820.175926729,653.824073271,631,656,0.449905817484,0.00469833253518,0.0695206439407,0.999999655614,0.000323442137731,-0.000764287061007,4.74214406907e-06,1793250314985754112
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,746,720,694,658,638,889,786,820,653.59518874,631,656,0.449496270004,0.00469499286521,0.0695397022125,0.999999677141,0.000324101233747,-0.000735239327283,1.00164300554e-05,1793250315002420736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,746,720,694,658,638,889,786,820,653.020052526,631,656,0.449079428459,0.0046916163393,0.0695609709872,0.999999702423,0.000323999328979,-0.000699969789228,1.48516327307e-05,1793250315019087360
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,746.555784319,720,694,658,638,889,786,819.444215681,653.555784319,631,656,0.44860820878,0.00468883967335,0.0695848181265,0.999999739204,0.000283788981202,-0.00066409765808,5.56217174641e-06,1793250315035753984
+300,5.000000000,POSE2_TO_POSE3_RETREAT,769.865095772,746.865095772,720,693.865095772,658.134904228,638,889,786,819.134904228,653.865095772,631,656,0.448118182174,0.00468522941384,0.0696028439104,0.999999765435,0.000251680649193,-0.000637013688785,-5.0136955327e-07,1793250315052420608
+301,5.016666667,POSE2_TO_POSE3_RETREAT,769.274983047,746.274983047,720,693.274983047,658.725016953,638,889,786,819.725016953,653.274983047,631,656,0.447571323636,0.00467873323017,0.069600912354,0.999999763699,0.000251800136496,-0.000639657141038,6.04209891396e-06,1793250315069087232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769.308513008,746,720,693,659.308513008,638,889,786,819.691486992,653,631,656,0.446990539754,0.00467517877747,0.0695875351346,0.999999750812,0.000251855978782,-0.000659407382189,1.12150134687e-05,1793250315085754112
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769.53487301,746,720,693,660.46512699,638.46512699,889,786,819.46512699,653,630.53487301,656,0.445790681644,0.00467138119964,0.0695702357877,0.999999742917,0.000236930953151,-0.00067661497767,1.4871765182e-05,1793250315119087360
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.46566476,745.53433524,720.53433524,685.53433524,664,641,886,787,818.53433524,653,630.53433524,656,0.403750566336,0.00447000469193,0.0698435797004,0.999999967856,2.31604421996e-05,-0.0002507426397,2.96589982999e-05,1793250316069087232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.107743965,745.892256035,721,685.892256035,664,641,885.892256035,787,818.892256035,653,631,655.892256035,0.403420759562,0.00446733866739,0.0698347477848,0.999999964132,1.13925022106e-05,-0.000266051267267,2.86702576416e-05,1793250316085753600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.682502388,745.317497612,721,685.317497612,664,641,885.317497612,787,818.317497612,653,631,655.317497612,0.40313002649,0.00446632081571,0.0698241051215,0.999999959368,2.50710298181e-06,-0.000283690089057,2.78718570331e-05,1793250316102420480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,745.266030981,720.733969019,684.733969019,664,641,885,787,818,653,631,655.266030981,0.402858153582,0.00446705291473,0.0698158997528,0.999999955355,-3.13601397182e-06,-0.000297566486673,2.70955427437e-05,1793250316119087104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,745.860383206,720.139616794,684.139616794,664,641,885,787,818,653,631,655.860383206,0.402609556904,0.00446994470963,0.0698107023639,0.999999952579,-4.77767845207e-06,-0.000306799499874,2.63464862787e-05,1793250316135753984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,745.559461874,720,684.440538126,664.440538126,641,885,787,818,653,631,655.559461874,0.402386231154,0.00447057880523,0.0698041738765,0.999999949195,-3.62558243669e-06,-0.000317651687292,2.63328203427e-05,1793250316152420352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.983703491,745,720,684.983703491,665,641,885.016296509,787,818,653,631,655.016296509,0.402171747639,0.00447071946959,0.0697974221906,0.999999945633,-1.11453285454e-06,-0.000328678883719,2.65301499999e-05,1793250316169087232
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.409233025,745,720,684.409233025,665,641,885.590766975,787,818,653,631,655.590766975,0.4019943702,0.00447770169843,0.0697970236587,0.999999945471,1.85628085953e-05,-0.000328672943508,2.62208928931e-05,1793250316185753856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.170349012,745,720,684,664.829650988,641,885.829650988,787,818,653,630.829650988,656,0.401827356946,0.00448539640584,0.0697968651221,0.999999944885,3.84168928602e-05,-0.000328765950527,2.5841843574e-05,1793250316202420736
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.762590672,745,720,684,664.237409328,641,885.237409328,787,818,653,630.237409328,656,0.40168601198,0.0044948556654,0.0697973009664,0.999999943802,5.87087090138e-05,-0.000329104014088,2.52899442373e-05,1793250316219087360
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,745,720,684.346162029,664,641,884.653837971,787,818,653,630.346162029,656,0.401563489985,0.0045006969428,0.0697979253314,0.999999943951,6.64452704794e-05,-0.000327209545024,2.4842302055e-05,1793250316235753984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,745,720,684.923932269,664,641,884.076067731,787,818,653,630.923932269,656,0.401453561969,0.00450411751976,0.069798675831,0.999999945107,6.57814290585e-05,-0.000323821345186,2.44644157214e-05,1793250316252420608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,745,720,684.500973253,664,641,884.499026747,787,817.500973253,653,631,655.500973253,0.401360743325,0.00449964691837,0.0697980012712,0.999999945479,5.30933882173e-05,-0.000325079831465,2.33504787135e-05,1793250316269086976
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.926343971,745,720,684.073656029,664,641,885.073656029,787,817.073656029,653,630.926343971,655.073656029,0.401273582883,0.00449483889556,0.0697974248875,0.999999945715,4.03410607611e-05,-0.000326261697679,2.22543916012e-05,1793250316285753600
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769.352119045,745,720,684.647880955,664,641,885.647880955,787,817.647880955,653,630.352119045,655.647880955,0.401207246117,0.00449586888823,0.0697989841062,0.99999994709,3.95416854741e-05,-0.000322134863418,2.20380464312e-05,1793250316302420480
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769.230487467,745,720.230487467,684.769512533,664,641,885.769512533,787,818,653,630.230487467,655.769512533,0.401148666471,0.00449667277978,0.069800513417,0.999999948122,3.96113473094e-05,-0.000318904973264,2.20549492379e-05,1793250316319087360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769.826381803,745,720.826381803,684.173618197,664,641,885.173618197,787,818,653,630.826381803,655.173618197,0.401102384699,0.00449711821831,0.069801995313,0.99999994863,4.10587506554e-05,-0.00031709706771,2.24416353506e-05,1793250316335754240
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769.592903097,745,720.592903097,684,664,641,885,787,818,653,631,655.407096903,0.401069216521,0.0044960638271,0.0698054774606,0.999999950565,3.9184901277e-05,-0.000311170201007,2.25391837088e-05,1793250316352420864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.018428869,745,720.018428869,684,664,641,885,787,818,653,631,655.981571131,0.401041439975,0.00449439278301,0.069809782009,0.999999953029,3.59455235779e-05,-0.000303549828982,2.25178535127e-05,1793250316369087488
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,744.442978952,720.557021048,684,664,641,885,787.557021048,818,653,631,656,0.401020544592,0.00449480038106,0.0698119985259,0.999999953851,3.71263252036e-05,-0.000300670388193,2.2751500253e-05,1793250316385754368
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,744.135985601,720.864014399,684.135985601,664,640.864014399,885.135985601,787.864014399,818,653,631,656,0.401002038061,0.00449489145913,0.0698140403468,0.999999954667,3.74861049981e-05,-0.000297886359407,2.2891034177e-05,1793250316402420992
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,744.726592171,720.273407829,684.726592171,664,640.273407829,885.726592171,787.273407829,818,653,631,656,0.400990755391,0.00449369404557,0.0698157294885,0.999999955662,3.46113199622e-05,-0.00029489600554,2.26876826274e-05,1793250316419087616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,640.310566744,885.689433256,787,818,653,631,656,0.400982252073,0.00449476182725,0.0698171683275,0.999999956508,3.62097166702e-05,-0.000291846228871,2.23490283644e-05,1793250316435753984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,640.888824864,885.111175136,787,818,653,631,656,0.400976144402,0.00449778208214,0.0698183914194,0.999999957205,4.16637491133e-05,-0.000288745233204,2.18937506485e-05,1793250316452420608
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745,720.46573825,684.53426175,664.46573825,641,885.46573825,787,818,653,630.53426175,656,0.400972120747,0.00449666495885,0.069818279331,0.999999957355,4.05853561482e-05,-0.000288376254274,2.19639877028e-05,1793250316469087232
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769.042102625,745,720.957897375,684,665,641,885.957897375,787,818,653,630.042102625,656,0.400968885053,0.00449474587886,0.0698180557693,0.999999957433,3.82674582495e-05,-0.000288407542659,2.21363143856e-05,1793250316485754112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769.615577687,745,720.384422313,684,665,641,885.384422313,787,818,653,630.615577687,656,0.400969333691,0.0044951341799,0.0698204362284,0.999999958267,3.99294753572e-05,-0.000285283514058,2.20184434235e-05,1793250316502420736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769.80529036,745,720,684,664.80529036,641,885,787,818,653,631,655.80529036,0.400969672595,0.00449595480702,0.0698221170875,0.999999958863,4.09185847808e-05,-0.00028306093892,2.18210995433e-05,1793250316519087360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769.21465568,745,720,684,664.21465568,641,885,787,818,653,631,655.21465568,0.400969788366,0.00449765453141,0.0698223753709,0.999999958996,4.05393950287e-05,-0.000282671391014,2.14621544434e-05,1793250316535753984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,720.370352547,684,664.370352547,641,885,787,818,653,631,655.370352547,0.400969005693,0.00449841222836,0.0698220472393,0.999999958873,4.05481825744e-05,-0.00028311137034,2.13854392696e-05,1793250316552420608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,720.952148548,684,664.952148548,641,885,787,818,653,631,655.952148548,0.400967710078,0.00449863209864,0.0698213843087,0.999999958603,4.07784759465e-05,-0.000284024947298,2.14698561267e-05,1793250316569087232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,720.474430334,684,665,641,885,787,818,653.525569666,630.474430334,656,0.400966872526,0.0044976189455,0.0698217888231,0.999999958604,3.99912353929e-05,-0.000284126554247,2.15670777747e-05,1793250316585754112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,664.898899009,641,885,787,818,653.898899009,630.101100991,656,0.400966376934,0.00449657211156,0.0698223063265,0.999999958694,3.92162728069e-05,-0.000283910709667,2.16524889091e-05,1793250316602420736
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,664.309552077,641,885,787,818,653.309552077,630.690447923,656,0.400967334512,0.00449589626917,0.0698229075016,0.9999999591,3.89409873233e-05,-0.000282513216331,2.16753218406e-05,1793250316619087616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,745,720.274966558,684,664.274966558,641,885.274966558,787,818,653,630.725033442,655.725033442,0.400966713855,0.00449624055775,0.0698228836572,0.999999959069,3.97515080984e-05,-0.000282513719998,2.16147459422e-05,1793250316635754240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745,720.854143353,684,664.854143353,641,885.854143353,787,818,653,630.145856647,655.145856647,0.400964347112,0.00449771347194,0.06982216832,0.999999958552,4.17633145404e-05,-0.000284060902751,2.14618903838e-05,1793250316652420864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769.430610403,745,721,684,665,641,885.569389597,787,818,653,630.430610403,655.430610403,0.400964831341,0.00449792351272,0.0698224875778,0.999999958776,4.2030964199e-05,-0.000283232533963,2.14452654483e-05,1793250316669087488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.994091521,745,720.994091521,684,665,641,885,787,818,653,631,656,0.400966274386,0.00449772727641,0.0698231665647,0.999999959252,4.17381174887e-05,-0.000281590746638,2.14711071483e-05,1793250316685753856
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.442514805,745,720.442514805,684,665,641,885,787,818,653,631,656,0.400967640836,0.00449926813978,0.0698249059395,0.999999959982,4.39010556521e-05,-0.000278674299672,2.11839693575e-05,1793250316702420736
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,720.122019904,684,664.877980096,641,885,787,818,653,631,655.877980096,0.400968730163,0.00450012112427,0.069826248932,0.999999960586,4.48522490464e-05,-0.00027636444202,2.09638230223e-05,1793250316719087360
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745,720.739131053,684,664.260868947,641,885,787,818,653,631,655.260868947,0.400968695079,0.00449818306534,0.0698259836179,0.999999960713,4.08868323568e-05,-0.000276515798781,2.10154921101e-05,1793250316735753984
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,745,721,684,664,641,885,787,818,653,631,655.333025664,0.400968152466,0.0044979005958,0.069825525823,0.99999996042,4.00523169533e-05,-0.000277697879859,2.09863822054e-05,1793250316752420608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,721,684,664,641,885,787,818,653,631,655.909919336,0.400967238202,0.00449883048094,0.0698249270782,0.999999959822,4.15104972813e-05,-0.000279634739675,2.08981194722e-05,1793250316769087488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745,720.531154239,684,664.468845761,641,885,787,818,653,631,656,0.400967486721,0.00449802770867,0.0698250399609,0.99999996005,3.96762969976e-05,-0.000279088478949,2.08756270011e-05,1793250316785754112
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769.025544151,745,720.025544151,684,664.974455849,641.025544151,885,787,818,653,631,655.974455849,0.400967948853,0.00449695645896,0.0698253109446,0.999999960421,3.73714445581e-05,-0.000278074306206,2.0871562607e-05,1793250316802420992
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769.606069567,745,720.606069567,684,664.393930433,641.606069567,885,787,818,653,631,655.393930433,0.400968377308,0.00449701793891,0.0698261559482,0.999999960724,3.80773240206e-05,-0.000276876948848,2.10034582833e-05,1793250316819087360
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09651caab1a544750f8384df4d21b6572e55ef03
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/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,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+1,0.016666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+2,0.033333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+3,0.050000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+4,0.066666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+5,0.083333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+6,0.100000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+7,0.116666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+8,0.133333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+9,0.150000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+10,0.166666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+11,0.183333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+12,0.200000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+13,0.216666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+14,0.233333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+15,0.250000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+16,0.266666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+381,6.350000000,pose2_to_pose3_retreat,0.575694704486,0.0101502353014,1.06003348645,0.546265382408,0.0188228671255,1.05970487844
+382,6.366666667,pose2_to_pose3_retreat,0.575684915219,0.0101501905098,1.06003333815,0.54625559177,0.018822818261,1.05970474552
+383,6.383333333,pose2_to_pose3_retreat,0.575677867174,0.0101501595257,1.06003354146,0.546248544506,0.0188227894817,1.05970493717
+384,6.400000000,pose2_to_pose3_retreat,0.57567315068,0.0101501910301,1.06003363215,0.546243827783,0.0188228200326,1.05970502325
+385,6.416666667,pose2_to_pose3_retreat,0.575670186347,0.0101502570112,1.06003363198,0.546240862544,0.0188228829821,1.05970502425
+386,6.433333333,pose2_to_pose3_retreat,0.575668548314,0.0101502575857,1.06003359302,0.546239224301,0.0188228828474,1.05970498533
+387,6.450000000,pose2_to_pose3_retreat,0.575667758816,0.0101502436977,1.06003355889,0.546238434817,0.0188228689987,1.05970495098
+388,6.466666667,pose2_to_pose3_retreat,0.575667371889,0.0101502368913,1.06003354217,0.546238047896,0.0188228622116,1.05970493415
+389,6.483333333,pose2_to_pose3_retreat,0.575667225942,0.0101502343239,1.06003353586,0.546237901952,0.0188228596515,1.0597049278
+390,6.500000000,pose2_to_pose3_retreat,0.575666920235,0.0101502289463,1.06003352264,0.54623759625,0.0188228542891,1.0597049145
+391,6.516666667,pose2_to_pose3_retreat,0.575666510874,0.0101502217452,1.06003350495,0.546237186896,0.0188228471085,1.05970489669
+392,6.533333333,pose2_to_pose3_retreat,0.575666232883,0.0101502054236,1.06003350143,0.546236909225,0.0188228318766,1.05970489326
+393,6.550000000,pose2_to_pose3_retreat,0.575665985912,0.0101501850013,1.0600335027,0.546236662702,0.0188228129799,1.0597048947
+394,6.566666667,pose2_to_pose3_retreat,0.575665623515,0.0101501550342,1.06003350456,0.546236300962,0.0188227852513,1.05970489681
+395,6.583333333,pose2_to_pose3_retreat,0.575665403555,0.0101501368454,1.0600335057,0.546236081401,0.0188227684212,1.05970489809
+396,6.600000000,pose2_to_pose3_retreat,0.575665392504,0.0101501359316,1.06003350575,0.54623607037,0.0188227675757,1.05970489815
+397,6.616666667,pose2_to_pose3_retreat,0.575665359494,0.010150133202,1.06003350592,0.54623603742,0.01882276505,1.05970489834
+398,6.633333333,pose2_to_pose3_retreat,0.575665142215,0.0101501152349,1.06003350704,0.546235820535,0.018822748425,1.05970489961
+399,6.650000000,pose2_to_pose3_retreat,0.575664754032,0.0101500737449,1.06003358653,0.546235432124,0.0188227059224,1.05970497276
+400,6.666666667,pose2_to_pose3_retreat,0.575664491683,0.0101500408864,1.06003368001,0.546235169144,0.0188226706296,1.05970505856
+401,6.683333333,pose2_to_pose3_retreat,0.575664412721,0.0101500207276,1.06003356952,0.546235090472,0.018822651583,1.05970495142
+402,6.700000000,pose2_to_pose3_retreat,0.575664399926,0.0101500168732,1.06003354368,0.546235077752,0.0188226480145,1.05970492645
+403,6.716666667,pose2_to_pose3_retreat,0.575664335065,0.0101499973331,1.06003341269,0.546235013268,0.0188226299236,1.05970479984
+404,6.733333333,pose2_to_pose3_retreat,0.575664308684,0.0101499893859,1.06003335941,0.546234987042,0.0188226225658,1.05970474835
+405,6.750000000,pose2_to_pose3_retreat,0.575664290019,0.0101499837627,1.06003332171,0.546234968485,0.0188226173597,1.05970471191
+406,6.766666667,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93239ff4c4426c522b8968bb34e6aceb3613fdf6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84e283e08971b242e8035116472c76466d3b0b6596dbb70fa8404fd33dc96036
+size 25784125
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e5706ceb5d110d5dfb6abfedfa13b81c37a4f38
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,745,720,684,664,641,885,787,818,653,631,655,0.40096915244,0.00449981663017,0.0698270434469,0.999999961067,4.39135623641e-05,-0.000274822554632,2.02687134736e-05,1793250316972796160
+1,0.016666667,BASELINE,769.576295481,745,720,684,664,641,885.576295481,787,818,653,630.423704519,655.576295481,0.400968243662,0.00449874188213,0.069827297485,0.999999960988,4.24878459532e-05,-0.00027529247714,2.08166588851e-05,1793250316989462784
+2,0.033333333,BASELINE,770,745,720.144638131,684.144638131,664.144638131,641,886,787,818,653,630.144638131,656,0.400967514623,0.00449800467059,0.0698273186354,0.999999960879,4.18829064513e-05,-0.000275746616575,2.12346637181e-05,1793250317006129408
+3,0.050000000,BASELINE,770,745,720.690898012,684.690898012,664.690898012,641,886,787,818,653,630.690898012,656,0.400967284675,0.00449820470819,0.0698266931185,0.999999960693,4.35570465319e-05,-0.000276156930705,2.12918581334e-05,1793250317022796288
+4,0.066666667,BASELINE,769.727920968,745,720.727920968,684.727920968,665,641,885.727920968,787,818,653,631,656,0.400967559463,0.00449793620614,0.0698264656604,0.999999960629,4.40702595212e-05,-0.000276302013564,2.13549465514e-05,1793250317039462912
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+6,0.100000000,BASELINE,769.485829333,745,720,684,664.514170667,641,885,787,818,653,631,656,0.400968219423,0.00449935430717,0.0698267213688,0.999999960861,4.39146051156e-05,-0.000275521231036,2.091965861e-05,1793250317072796928
+7,0.116666667,BASELINE,770,745,720.06464002,684.06464002,664,641,885,787,818,652.93535998,631,656,0.400967854945,0.0045017591275,0.0698266726274,0.999999960991,4.48073813781e-05,-0.000274941755165,2.04136738134e-05,1793250317089463552
+8,0.133333333,BASELINE,770,745,720.638663832,684.638663832,664,641,885,787,818,652.361336168,631,656,0.40096859679,0.0045001894166,0.0698270171036,0.99999996105,4.32831883343e-05,-0.000274943973915,2.07839190242e-05,1793250317106129664
+9,0.150000000,BASELINE,769.788995529,745,721,685,664,641,885,787,818,652.211004471,631,656,0.400968865279,0.00449903359693,0.0698272622743,0.999999961044,4.24673043035e-05,-0.000275081520364,2.09529786548e-05,1793250317122796288
+10,0.166666667,BASELINE,769.219514499,745,721,685,664,641,885,787,818,652.780485501,631,656,0.400968329581,0.0044985809393,0.0698273387344,0.99999996093,4.28547701751e-05,-0.000275448975725,2.07802430527e-05,1793250317139463168
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+12,0.200000000,BASELINE,769,745,721,684.030874727,664.969125273,641,885,787,818,653,631,655.030874727,0.400967394054,0.00449838946582,0.0698270058724,0.999999961033,4.07241588713e-05,-0.000275409652121,2.06353747252e-05,1793250317172796416
+13,0.216666667,BASELINE,769,745,720.453878172,684,664.453878172,641,885,787,818,653,631,655.546121828,0.400968702665,0.00449889354936,0.0698280022435,0.999999961311,4.21081638215e-05,-0.000274182781846,2.0718259506e-05,1793250317189463296
+14,0.233333333,BASELINE,769,745,720.121977095,684,664,641,885,787,818,653,631,655.878022905,0.400969675782,0.00449931465961,0.0698286914971,0.999999961522,4.30199773014e-05,-0.000273269449174,2.07237529279e-05,1793250317206129920
+15,0.250000000,BASELINE,769,745,720.698278175,684,664,641,885,787,818,653,631,655.301721825,0.400969043798,0.00449932278592,0.0698279902748,0.999999961457,4.16082898003e-05,-0.000273749094969,2.04144558008e-05,1793250317222796800
+16,0.266666667,BASELINE,769.272037815,745,720.727962185,684,664,641,885,787,818,653,631,655.272037815,0.40096853023,0.00449898809615,0.0698275820148,0.999999961443,4.04755780679e-05,-0.000273971802065,2.03965353544e-05,1793250317239463680
+17,0.283333333,BASELINE,769.843004754,745,720.156995246,684,664,641,885,787,818,653,631,655.843004754,0.400968146783,0.00449827670248,0.0698274956769,0.999999961486,3.96494193259e-05,-0.000273912171696,2.06987945916e-05,1793250317256129792
+18,0.300000000,BASELINE,769.567370601,745,720,684,664,641,885,787,818,653,631,656,0.400967752154,0.00449849123197,0.0698274115468,0.999999961214,4.09409949471e-05,-0.000274708239052,2.07421683989e-05,1793250317272796160
+19,0.316666667,BASELINE,769.028340671,745,720.028340671,684,664.028340671,641,885,787,818,653,631,656,0.400967397886,0.00449902887278,0.0698273425636,0.999999960847,4.28539325634e-05,-0.000275755444547,2.06800686408e-05,1793250317289462784
+20,0.333333333,BASELINE,769.604917583,745,720.604917583,684,664.604917583,641,885,787,818,653,631,656,0.400967906436,0.00449902414855,0.0698275503899,0.999999961022,4.1250605642e-05,-0.000275383190377,2.04768803556e-05,1793250317306129664
+21,0.350000000,BASELINE,769.819603331,745,721,684,665,641,884.819603331,787,818,653,631,656,0.400968393394,0.00449893185605,0.0698277652409,0.999999961214,4.00651120044e-05,-0.000274865994601,2.03732301485e-05,1793250317322796544
+22,0.366666667,BASELINE,769.246514099,745,721,684,665,641,884.246514099,787,818,653,631,656,0.40096883335,0.00449864894245,0.0698279953838,0.999999961451,3.97891698636e-05,-0.000274033285895,2.0486257266e-05,1793250317339463168
+23,0.383333333,BASELINE,769,745,720.661310472,684,664.661310472,641,884.338689528,787,818,653,631,655.661310472,0.400967491113,0.00449872066812,0.0698272108165,0.999999961122,4.00655666731e-05,-0.000275200281808,2.03817568161e-05,1793250317356130048
+24,0.400000000,BASELINE,769,745,720.066962274,684,664.066962274,641,884.933037726,787,818,653,631,655.066962274,0.400964803594,0.00449906009203,0.0698256602984,0.999999960359,4.07588946837e-05,-0.000277876748049,2.01130564128e-05,1793250317372797184
+25,0.416666667,BASELINE,769,745,720,683.487486565,664.512513435,641,885,787,817.487486565,653,631,655.512513435,0.400965654588,0.00449848358856,0.0698258681184,0.999999960431,4.01173256539e-05,-0.000277688838856,2.04362343276e-05,1793250317389463808
+26,0.433333333,BASELINE,769,745,720.089413914,683.089413914,665,641,885,787,817.089413914,653,631,656,0.400966945463,0.00449799962031,0.0698264385331,0.999999960662,3.96999969432e-05,-0.000276893024239,2.07643187102e-05,1793250317406130432
+27,0.450000000,BASELINE,769,745,720.662598341,683.662598341,665,641,885,787,817.662598341,653,631,656,0.400968185455,0.004498645522,0.0698277628326,0.999999961177,4.14129418253e-05,-0.000274775892429,2.07123485608e-05,1793250317422796800
+28,0.466666667,BASELINE,769,745,720.763005047,684.236994953,664.763005047,641,884.763005047,787,817.763005047,653,631,656,0.400969012689,0.00449866874491,0.0698287170235,0.999999961545,4.15170129063e-05,-0.000273417627021,2.07362933643e-05,1793250317439463168
+29,0.483333333,BASELINE,769,745,720.186873853,684.813126147,664.186873853,641,884.186873853,787,817.186873853,653,631,656,0.400969249275,0.00449780092376,0.0698291415946,0.999999961705,3.93188094725e-05,-0.000273145288243,2.08688713364e-05,1793250317456129792
+30,0.500000000,BASELINE,769,745,720.39697844,684.60302156,664.39697844,641,884.39697844,787,817.39697844,653,631,656,0.40096799283,0.00449764649967,0.0698286499674,0.999999961428,3.84699934428e-05,-0.000274288552647,2.07358167882e-05,1793250317472796416
+31,0.516666667,BASELINE,769,745,720.984537445,684.015462555,664.984537445,641,884.984537445,787,817.984537445,653,631,656,0.400966019616,0.00449783456173,0.0698277184937,0.999999960939,3.82689885086e-05,-0.000276111416819,2.04752379415e-05,1793250317489463040
+32,0.533333333,BASELINE,769,745,720.434840244,684,665,641,885,787,818,653,631,655.434840244,0.400967408637,0.00449807879188,0.0698277184684,0.999999961392,3.97713630319e-05,-0.000274243320272,2.06059761619e-05,1793250317506129664
+33,0.550000000,BASELINE,769,745,720.143436642,684,664.856563358,641,885,787,818,653,631,655.143436642,0.400968513479,0.00449867210428,0.0698279864174,0.999999961771,4.11805638603e-05,-0.000272644667029,2.06484927997e-05,1793250317522796544
+34,0.566666667,BASELINE,769,745,720.715268409,684,664.284731591,641,885,787,818,653,631,655.715268409,0.400968498165,0.00450030346924,0.0698289795226,0.99999996187,4.21739855168e-05,-0.000272148691969,2.03959341506e-05,1793250317539463168
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+36,0.600000000,BASELINE,769,745,720.133495405,684.866504595,664.866504595,641,885,787,818,653,631,655.133495405,0.40096946561,0.00449937428863,0.0698289346923,0.999999961826,4.36822956576e-05,-0.000272060989818,2.0582609533e-05,1793250317572796672
+37,0.616666667,BASELINE,769,745,720.456403503,684.543596497,664.543596497,641,885,787,817.543596497,653,631,655.456403503,0.400968619709,0.00449913741782,0.0698287638244,0.999999961577,4.28803351521e-05,-0.000273094483796,2.06498890183e-05,1793250317589463296
+38,0.633333333,BASELINE,769,745,720.951342662,684,664.048657338,641,885,787,817.048657338,653,631,655.951342662,0.400967557835,0.00449909407392,0.0698286785867,0.999999961335,4.1842411892e-05,-0.000274139493636,2.06693459203e-05,1793250317606129664
+39,0.650000000,BASELINE,769,745,720.376047888,684,664.623952112,641,885,787,817.623952112,653,631,655.376047888,0.400969030465,0.00449813905962,0.0698289068967,0.99999996179,4.30631437495e-05,-0.000272286725607,2.06297800808e-05,1793250317622796544
+40,0.666666667,BASELINE,769,745,720.204135969,684,664.795864031,641,885,787.204135969,818,653,631,655.204135969,0.400969471523,0.00449798438585,0.0698288081033,0.999999961947,4.38486417512e-05,-0.000271590761321,2.05554811575e-05,1793250317639463168
+41,0.683333333,BASELINE,769,745,720.793547185,684,664.206452815,641,885,787.793547185,818,653,631,655.793547185,0.400967965651,0.0044993402318,0.0698280919525,0.999999961546,4.38127027166e-05,-0.000273078086291,2.04156288836e-05,1793250317656129792
+42,0.700000000,BASELINE,769,745,720.623502004,684,664.376497996,641,885,787.623502004,818,653,631,656,0.400967939917,0.00449949224879,0.0698280993987,0.999999961596,4.26233670943e-05,-0.000273078656529,2.04765776213e-05,1793250317672796416
+43,0.716666667,BASELINE,769,745,720.044034015,684,664.955965985,641,885,787.044034015,818,653,631,656,0.400968712125,0.00449899528179,0.0698284969358,0.999999961886,4.08122356053e-05,-0.000272277717544,2.06457781484e-05,1793250317689463040
+44,0.733333333,BASELINE,769.532356078,745,720,683.467643922,664.467643922,641,884.467643922,787,818,653,631,656,0.400968743014,0.00449885293961,0.0698283375986,0.999999961822,4.20521794703e-05,-0.000272334876934,2.05249907959e-05,1793250317706129408
+45,0.750000000,BASELINE,769.891557318,745,720.108442682,683.108442682,664.108442682,641,884.108442682,787,818,653,631,656,0.400968652964,0.00449871825319,0.069828223058,0.999999961776,4.26749634084e-05,-0.0002724194172,2.03791659113e-05,1793250317722796032
+46,0.766666667,BASELINE,769.315687959,745,720.684312041,683.684312041,664.684312041,641,884.684312041,787,818,653,631,656,0.400968304404,0.00449849085738,0.069828499009,0.999999961935,3.95560124886e-05,-0.000272317797361,2.02282161837e-05,1793250317739462656
+47,0.783333333,BASELINE,769,745,721,684,665,641,885,787,818,653,631,655.742226181,0.400968559167,0.00449853563904,0.0698288207905,0.999999962012,3.93370415576e-05,-0.000272069858072,2.01528012917e-05,1793250317756129536
+48,0.800000000,BASELINE,769,745,721,684,665,641,885,787,818,653,631,655.171685536,0.400969545962,0.00449891066402,0.06982919818,0.999999961992,4.26367267765e-05,-0.00027164438379,2.01690356828e-05,1793250317772796416
+49,0.816666667,BASELINE,769,745,721,684.417225865,664.582774135,641,885,787,818,653.417225865,630.582774135,655.417225865,0.400969352799,0.00449782287138,0.0698287459727,0.999999961931,4.1298133678e-05,-0.000272070331531,2.02356481533e-05,1793250317789463296
+50,0.833333333,BASELINE,769,745,720.986463595,684.986463595,664.013536405,641,885,787,818,653.986463595,630,656,0.400968665837,0.00449619974436,0.0698279622295,0.999999961844,3.81394709814e-05,-0.000272847214454,2.03165092524e-05,1793250317806129664
+51,0.850000000,BASELINE,769,745,720.411250187,684.411250187,664.588749813,641,885,787,818,653.411250187,630,656,0.400968564368,0.00449849070027,0.0698282390883,0.999999961645,4.23027210466e-05,-0.000272978625319,2.00888056983e-05,1793250317822796288
+52,0.866666667,BASELINE,769,745,720.16425283,684.16425283,664.83574717,641,885,787,818,652.83574717,630.16425283,656,0.400968515417,0.00449978338596,0.069828524596,0.999999961542,4.49478641531e-05,-0.000272934026513,2.0045102402e-05,1793250317839462912
+53,0.883333333,BASELINE,769,745,720.740482206,684.740482206,664.259517794,641,885,787,818,652.259517794,630.740482206,656,0.400968598192,0.00449857222477,0.0698288317966,0.999999961718,4.37853133502e-05,-0.000272447962831,2.04629058746e-05,1793250317856129536
+54,0.900000000,BASELINE,769,745,720.674444944,684.674444944,664,641,885,787,818,652.325555056,631,655.674444944,0.400967875481,0.0044983413321,0.0698284515421,0.999999961647,4.28296227411e-05,-0.000272848096634,2.06432562758e-05,1793250317872795904
+55,0.916666667,BASELINE,769,745,720.082125659,684.082125659,664,641,885,787,818,652.917874341,631,655.082125659,0.400966492746,0.00449891368481,0.0698275079775,0.999999961372,4.2043436238e-05,-0.000273974392702,2.0629034389e-05,1793250317889462528
+56,0.933333333,BASELINE,769,745,720,684,664.495735981,641,885,787,818,653,631,655,0.40096719592,0.00449888275505,0.0698287133927,0.999999961725,4.2386229177e-05,-0.00027264022066,2.05144507741e-05,1793250317906129408
+57,0.950000000,BASELINE,769,745,720,684.071183258,665,641,885,787,817.928816742,653,631,655.071183258,0.400968089304,0.00449872005255,0.0698299172158,0.999999962091,4.27480195485e-05,-0.000271244842285,2.04120779345e-05,1793250317922796288
+58,0.966666667,BASELINE,769,745,720,684.646013832,665,641,885,787,817.353986168,653,631,655.646013832,0.400967952814,0.00449831209974,0.0698286622612,0.999999961858,4.19584082127e-05,-0.000272218679545,2.05104046073e-05,1793250317939462912
+59,0.983333333,BASELINE,769,745,720,685,665,641,885,787,817,653,631,656,0.400967686849,0.00449810513384,0.0698280194383,0.999999961655,4.16459312678e-05,-0.000272999512076,2.06632419421e-05,1793250317956129792
+60,1.000000000,BASELINE,769,745,720,685,665,641,885,787,817,653,631,656,0.400967213351,0.00449822032506,0.0698283577866,0.999999961502,4.20982415882e-05,-0.000273470982059,2.09034531385e-05,1793250317972796672
+61,1.016666667,BASELINE,769.386562436,744.613437564,720.386562436,684.613437564,664.613437564,641,885,787,817.386562436,653,631,656,0.400967639486,0.00449901120397,0.0698288992216,0.999999961676,4.23900122116e-05,-0.000272818870065,2.05320898372e-05,1793250317989463296
+62,1.033333333,BASELINE,769.976933823,744.023066177,720.976933823,684.023066177,664.023066177,641,885,787,817.976933823,653,631,656,0.400968539939,0.00450015832856,0.0698295477307,0.99999996202,4.25971407829e-05,-0.000271574367152,1.98382835074e-05,1793250318006129664
+63,1.050000000,BASELINE,770,744.556225815,720.443774185,684.556225815,664.556225815,641,884.443774185,787,817.443774185,653,631,656,0.400969181275,0.00449902987576,0.0698298999604,0.999999962286,4.1455939708e-05,-0.000270730972351,2.03744414523e-05,1793250318022796032
+64,1.066666667,BASELINE,769.86606316,745,720.13393684,684.86606316,664.86606316,641,884,787,817,653,631,655.86606316,0.400969711817,0.00449793566271,0.0698300182521,0.999999962449,4.06435416844e-05,-0.000270216042406,2.0821643005e-05,1793250318039462912
+65,1.083333333,BASELINE,769.292066471,745,720.707933529,684.292066471,664.292066471,641,884,787,817,653,631,655.292066471,0.400969912957,0.00449725793904,0.0698294075023,0.999999962293,4.10915735239e-05,-0.000270726725591,2.0812261782e-05,1793250318056129536
+66,1.100000000,BASELINE,769,745,720.709786169,684,664.290213831,641,884.290213831,787,817.290213831,653,630.709786169,655.290213831,0.400969572625,0.00449748200735,0.0698292529829,0.9999999622,4.13192667543e-05,-0.000271039278622,2.07229298503e-05,1793250318072796416
+67,1.116666667,BASELINE,769,745,720.118924469,684,664.881075531,641,884.881075531,787,817.881075531,653,630.118924469,655.881075531,0.400968671355,0.00449864028974,0.0698295710969,0.999999962175,4.13186995287e-05,-0.000271146578107,2.05507727476e-05,1793250318089463296
+68,1.133333333,BASELINE,769,745,720,684.462700215,665,641,885,787,818,653,630,656,0.400968737973,0.00449792349793,0.0698297442414,0.999999962223,4.14170495406e-05,-0.000270934474164,2.07936360864e-05,1793250318106129920
+69,1.150000000,BASELINE,769.041758359,745,720,684.958241641,664.958241641,641,884.958241641,787,818,653,630,656,0.400969020856,0.00449693521352,0.069829852073,0.999999962281,4.16209502064e-05,-0.000270670148448,2.10611090405e-05,1793250318122796544
+70,1.166666667,BASELINE,769.617759728,745,720,684.382240272,664.382240272,641,884.382240272,787,818,653,630,656,0.400968950169,0.00449851860471,0.0698295916815,0.999999962218,4.28563319616e-05,-0.000270767441165,2.03054421563e-05,1793250318139463168
+71,1.183333333,BASELINE,769.80806474,745,720,684,664,641,884.19193526,787.19193526,818,653,630.19193526,655.80806474,0.400969063058,0.00449970615267,0.0698293879044,0.99999996221,4.36020980912e-05,-0.000270711939186,1.98323467201e-05,1793250318156129536
+72,1.200000000,BASELINE,769.237491007,745,720,684,664,641,884.762508993,787.762508993,818,653,630.762508993,655.237491007,0.400969538096,0.00450011280492,0.069829295813,0.999999962315,4.3381979836e-05,-0.000270355012933,1.99166913069e-05,1793250318172796160
+73,1.216666667,BASELINE,769,745,720,684,664.34673133,641,885,787.65326867,818,653,631,655.34673133,0.40096954083,0.00449926448746,0.0698295282788,0.999999962291,4.2501130708e-05,-0.000270555975473,2.02782057631e-05,1793250318189463040
+74,1.233333333,BASELINE,769,745,720,684,664.940685209,641,885,787.059314791,818,653,631,655.940685209,0.400969206806,0.00449752136531,0.0698299921568,0.999999962174,4.11491745511e-05,-0.00027115471775,2.08373448185e-05,1793250318206129664
+75,1.250000000,BASELINE,769,745,720.520763186,684,664.479236814,641,885,787,818,653,631,656,0.400968739983,0.00449932925466,0.069829186942,0.999999961861,4.3564855313e-05,-0.000271937456297,2.07308847406e-05,1793250318222796544
+76,1.266666667,BASELINE,769,745,720.901624257,684,664.098375743,641,885,787,818,653,631,656,0.400968409918,0.00450076278678,0.0698284543286,0.999999961632,4.54448373304e-05,-0.000272487260737,2.05414666614e-05,1793250318239463680
+77,1.283333333,BASELINE,769,745,720.328480548,684,664.671519452,641,885,787,818,653,631,656,0.400968810959,0.00449848835824,0.0698287515939,0.99999996194,4.27222277997e-05,-0.000271814393934,2.03080636628e-05,1793250318256130048
+78,1.300000000,BASELINE,769,745,720,684,665,641,885,786.754340316,818,653,631,655.754340316,0.400968641258,0.00449755198656,0.069828935827,0.999999962052,4.13112645043e-05,-0.00027162868578,2.01814841584e-05,1793250318272796416
+79,1.316666667,BASELINE,769,745,720,684,665,641,885,786.178862216,818,653,631,655.178862216,0.400967705288,0.0044984120669,0.0698289683051,0.99999996191,4.16612948397e-05,-0.000272097028411,2.01983240373e-05,1793250318289463040
+80,1.333333333,BASELINE,769,745,720.409627882,684,664.590372118,641,885,786.409627882,818,653,631,655.409627882,0.400967385884,0.00449863680976,0.0698290711505,0.999999961786,4.20976136762e-05,-0.00027247925677,2.02887969699e-05,1793250318306129664
+81,1.350000000,BASELINE,769,745,721,684.003865064,664.003865064,641,885,787,818,653,631,655.996134936,0.400967348201,0.00449857638254,0.0698292023364,0.999999961671,4.25702398817e-05,-0.000272815768375,2.04118251834e-05,1793250318322796288
+82,1.366666667,BASELINE,769,745,721,684.58018115,664.58018115,641,885,787,818,653,631,655.41981885,0.400967854018,0.00449871569851,0.0698288309761,0.999999961853,4.26568532506e-05,-0.000272133029879,2.04384206023e-05,1793250318339462912
+83,1.383333333,BASELINE,769,744.845670244,720.845670244,684.845670244,665,641,885,787,818,653,630.845670244,655.154329756,0.400968366312,0.00449851509601,0.0698287146411,0.999999962106,4.20021959996e-05,-0.000271309882413,2.03819430984e-05,1793250318356129536
+84,1.400000000,BASELINE,769,744.277335985,720.277335985,684.277335985,665,641,885,787,818,653,630.277335985,655.722664015,0.400968895976,0.00449740262939,0.0698292824362,0.999999962544,3.93590085974e-05,-0.00027011007415,2.01026144464e-05,1793250318372796928
+85,1.416666667,BASELINE,769,744.305473324,720,684,664.694526676,641,885,787,817.694526676,653,630.305473324,656,0.400968695318,0.00449753518436,0.0698296773052,0.999999962507,3.97469264419e-05,-0.000270201092282,1.99634250181e-05,1793250318389463552
+86,1.433333333,BASELINE,769,744.902078046,720,684,664.097921954,641,885,787,817.097921954,653,630.902078046,656,0.400967798627,0.00449885430741,0.0698299073669,0.999999962013,4.30236397753e-05,-0.000271522332784,1.99577953156e-05,1793250318406130176
+87,1.450000000,BASELINE,769.483136023,745,720.483136023,684.483136023,664.483136023,641,885,787,817.483136023,653,630.516863977,656,0.400966948573,0.00449887950906,0.0698293148564,0.999999961725,4.2368761964e-05,-0.000272685396713,1.99522868855e-05,1793250318422796544
+88,1.466666667,BASELINE,770,745,721,684.939054815,665,641,885,787,818,653.060945185,630.060945185,656,0.40096641599,0.00449868007635,0.0698287439981,0.999999961554,4.1121824475e-05,-0.000273497161282,1.99877434668e-05,1793250318439462912
+89,1.483333333,BASELINE,770,745,721,684.362902848,665,641,885,787,818,653.637097152,630.637097152,656,0.400968489777,0.00449872953151,0.0698297216161,0.999999962052,4.13961336674e-05,-0.000271601745294,2.0369300945e-05,1793250318456129536
+90,1.500000000,BASELINE,770,745,720.786148447,684.213851553,665,641,885,787,818,653.786148447,631,656,0.400969521008,0.0044987956161,0.0698302297979,0.999999962309,4.18174048105e-05,-0.000270572490672,2.05714812946e-05,1793250318472796416
+91,1.516666667,BASELINE,770,745,720.208368899,684.791631101,665,641,885,787,818,653.208368899,631,656,0.400968778039,0.00449889000032,0.0698299391031,0.999999962163,4.24887726291e-05,-0.000271017251123,2.04684014465e-05,1793250318489463040
+92,1.533333333,BASELINE,769.624287918,745,720,684.624287918,664.624287918,641,885,787,818,653,630.624287918,656,0.400968412874,0.00449878068306,0.0698295383876,0.999999962059,4.24543504125e-05,-0.000271415945783,2.03443354648e-05,1793250318506129664
+93,1.550000000,BASELINE,769.036652512,745,720,684.036652512,664.036652512,641,885,787,818,653,630.036652512,656,0.400968260813,0.00449855646643,0.069829075614,0.999999961978,4.20218218958e-05,-0.000271788656719,2.02084320817e-05,1793250318522796800
+94,1.566666667,BASELINE,769.544282023,745,720.544282023,684,664.544282023,641,885,787,818,653,630.544282023,656,0.400966830633,0.0044981979349,0.0698282192687,0.999999961554,4.18924925226e-05,-0.000273358753614,2.0274948918e-05,1793250318539463680
+95,1.583333333,BASELINE,769.876901375,745,720.876901375,684,665,641,885.123098625,787,818,653,631,656,0.400966011881,0.00449841553914,0.0698277525197,0.999999961261,4.24094432276e-05,-0.00027435048488,2.02813602172e-05,1793250318556129792
+96,1.600000000,BASELINE,769.304192135,745,720.304192135,684,665,641,885.695807865,787,818,653,631,656,0.400967736881,0.00450077008006,0.0698288043738,0.99999996153,4.52132268591e-05,-0.00027293884317,2.00190579143e-05,1793250318572796416
+97,1.616666667,BASELINE,769,745,720.276751341,684,665,641,885.723248659,787,818,653,631,656,0.400969383835,0.004500819417,0.0698298203777,0.999999962017,4.49353501362e-05,-0.000271196434848,1.99663519362e-05,1793250318589462784
+98,1.633333333,BASELINE,769,745,720.867023014,684,665,641,885.132976986,787,818,653,631,656,0.400970942372,0.00449825728201,0.0698307957684,0.999999962748,4.11663856234e-05,-0.000269079314574,2.01510891217e-05,1793250318606129408
+99,1.650000000,BASELINE,769,745,721,684,665,641,885,787,818,653,631,656,0.400969934973,0.00449736491598,0.0698306299351,0.999999962603,4.03931793885e-05,-0.000269725534064,2.02421221464e-05,1793250318622796032
+100,1.666666667,BASELINE,769.026154827,745,721,684,665,641,885,787,818,653,631,656,0.400968277423,0.00449701810305,0.069830149284,0.999999962227,4.05549448339e-05,-0.000271088592309,2.02966232677e-05,1793250318639462656
+101,1.683333333,BASELINE,769.602333545,745,721,684,665,641,885,787,818,653,631,656,0.400968638676,0.00449793306265,0.0698300269645,0.999999962293,4.20590970933e-05,-0.000270628087082,2.01558942547e-05,1793250318656129536
+102,1.700000000,BASELINE,770,745,720.821470212,684,665,641,885,787,818,653,630.821470212,656,0.400968564079,0.00449845398112,0.069829615338,0.999999962244,4.28491755997e-05,-0.000270692577003,2.00593249551e-05,1793250318672796416
+103,1.716666667,BASELINE,770,745,720.245235005,684,665,641,885,787,818,653,630.245235005,656,0.400967518552,0.00449809710599,0.0698285592311,0.999999961943,4.20485333578e-05,-0.000271926582831,2.00611289355e-05,1793250318689463040
+104,1.733333333,BASELINE,769.661931124,745,720,684.338068876,665,641,884.661931124,787,818,653,630,656,0.400967755991,0.0044984646924,0.0698288271945,0.999999962021,4.24685550454e-05,-0.000271571976525,2.00797137241e-05,1793250318706129920
+105,1.750000000,BASELINE,769.073390068,745,720,684.926609932,665,641,884.073390068,787,818,653,630,656,0.400968943968,0.00449936902579,0.0698300761494,0.999999962378,4.37929555437e-05,-0.000270040381946,2.01107312623e-05,1793250318722796288
+106,1.766666667,BASELINE,769,745,720,684.490915663,664.490915663,641,884.509084337,787,818,653,630.509084337,656,0.400967416781,0.00450006530813,0.0698290859901,0.999999961838,4.39553420932e-05,-0.000272016783129,1.9953724799e-05,1793250318739462912
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,684,664,641,885,787,818,653,631,656,0.400968103533,0.00449877681391,0.0698295536265,0.999999961928,4.06828821768e-05,-0.000272167045536,2.03618937602e-05,1793250318782612480
+108,1.800000000,POSE1_TO_POSE2_PRESS,769.588814166,745,720.588814166,684.588814166,664.588814166,641,885,787,818,653,631,656,0.400968658659,0.00449893159873,0.069829575928,0.999999962079,4.10215252457e-05,-0.000271592966041,1.98909563296e-05,1793250318799279360
+109,1.816666667,POSE1_TO_POSE2_PRESS,769.82722742,745,720.82722742,685,664.82722742,641,885,787,818,653,631,655.82722742,0.400968647405,0.00449929809334,0.0698294703748,0.999999962088,4.16703211946e-05,-0.00027148017836,1.96535827917e-05,1793250318815945984
+110,1.833333333,POSE1_TO_POSE2_PRESS,769.254509305,745,720.254509305,685,664.254509305,641,885,787,818,653,631,655.254509305,0.40096732506,0.00450015466795,0.069829068855,0.999999961764,4.30370798588e-05,-0.000272435219733,1.99568784935e-05,1793250318832612096
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,720,685,664.324669979,641,885.324669979,787,818,653,630.675330021,655.324669979,0.40096863824,0.00450026085158,0.0698301012913,0.999999962317,4.33268351023e-05,-0.000270340396551,2.01006663991e-05,1793250318849278208
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,720,685,664.909016991,641,885.909016991,787,818,653,630.090983009,655.909016991,0.400972059362,0.00449976685864,0.069832280632,0.999999963557,4.27551830813e-05,-0.000265806235434,2.01168770116e-05,1793250318865944832
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,720,684.518434903,665,641,885.518434903,787,818,653,630.481565097,656,0.400971240173,0.00449844933141,0.0698316816005,0.999999963144,4.22114495635e-05,-0.000267434160208,2.02370498336e-05,1793250318882611456
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,720,684,665,641,885,787,818,653,631,655.946069589,0.40096987817,0.00449719276717,0.0698306914665,0.999999962472,4.18659915108e-05,-0.000269976628341,2.03863090336e-05,1793250318899278080
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,720,684,665,641,885,787,818,653,631,655.35380938,0.400970903404,0.00449806069638,0.0698309118133,0.999999962311,4.34483135196e-05,-0.000270304816281,2.06345325049e-05,1793250318915944960
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,720,684,664.767085001,641,885,787,817.767085001,653,631,655,0.400978042553,0.00449835936668,0.0698339578738,0.999999963473,4.39042666414e-05,-0.000265890947921,2.06898454325e-05,1793250318932611840
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,720,684,664.188574645,641,885,787,817.188574645,653,631,655,0.400994253428,0.00449781338011,0.0698411966808,0.999999966509,4.2688932408e-05,-0.000254440896127,2.04589209157e-05,1793250318949278208
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,720,684.385642871,664.385642871,641,885,787,817.385642871,653,631,655.385642871,0.401029743545,0.00449791259232,0.0698551408488,0.999999972099,4.19322763643e-05,-0.000231588340115,2.02368657617e-05,1793250318965944832
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,720,684.957784401,664.957784401,641,885,787,817.957784401,653,631,655.957784401,0.401074557192,0.00449832382556,0.0698723277608,0.999999978293,4.13974390601e-05,-0.000203221479648,2.00190998386e-05,1793250318982611712
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,720.536354025,684.463645975,665,641,885,787,818,653,631,655.463645975,0.401136232684,0.00449847889829,0.0698868846551,0.999999981773,4.14632414173e-05,-0.000185321394642,1.97693197787e-05,1793250318999278080
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.117654154,745,720.882345846,684,664.882345846,641,885,787,817.882345846,653,631,655.117654154,0.40120130979,0.00449844969995,0.0698992867996,0.999999984588,4.07501204467e-05,-0.000169675395861,1.93246928875e-05,1793250319015944960
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.707864721,745,720.292135279,684,664.292135279,641,885,787,817.292135279,653,631,655.707864721,0.401274654227,0.00449776234194,0.0699038759398,0.999999986405,3.67162794741e-05,-0.000159733885773,1.81077095594e-05,1793250319032611584
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.707861012,745,720,684,664.292138988,641,885,787,817,653,631,656,0.401356407845,0.00449880358831,0.069905692974,0.999999987107,3.51911426614e-05,-0.000155825806234,1.6292563769e-05,1793250319049278208
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.129404782,745,720,684,664.870595218,641,885,787,817,653,631,656,0.40144640306,0.00450153899145,0.0699047931445,0.999999986796,3.61247167975e-05,-0.000157830923652,1.38911757721e-05,1793250319065944832
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.557629842,745,720.442370158,684.442370158,665,641,885,787,817.442370158,653,631,656,0.401552816949,0.00450128468755,0.0699023302999,0.999999986259,3.3171990889e-05,-0.000162019061149,1.14221373454e-05,1793250319082612224
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.012770974,745,721,685,665,641,885,787,818,653,631,656,0.401664747845,0.00450025872094,0.0698994962854,0.999999985639,2.9196521462e-05,-0.000166704587661,8.91711686159e-06,1793250319099279360
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.608327604,745,721,685,665,641,885,787,818,653,631,656,0.401812527631,0.00450333484975,0.0699002787164,0.999999985869,2.96559809997e-05,-0.000165380180904,5.65973380732e-06,1793250319115945472
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,720.802198497,684.802198497,665,641,885,787,818,653,631,656,0.401971868834,0.00450527767032,0.0699025821212,0.999999986508,2.81908508575e-05,-0.000161813823202,2.24741068818e-06,1793250319132612096
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,720.224409915,684.224409915,665,641,885,787,818,653,631,656,0.402153420109,0.00450504334584,0.0699078073965,0.999999987885,2.30284827692e-05,-0.000153940560091,-1.4625600607e-06,1793250319149278720
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,720.351315676,684,665,641.351315676,885,787,818,653,631,656,0.402354629476,0.00450646337023,0.0699130154809,0.999999989236,1.78396272143e-05,-0.000145515037258,-5.89544627235e-06,1793250319165945344
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,720.92573124,684,665,641.92573124,885,787,818,653,631,656,0.402568322557,0.0045089339741,0.0699182126488,0.999999990513,1.26339505224e-05,-0.000136738806034,-1.07874138648e-05,1793250319182611968
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.5014543,745,721,684.5014543,665,641.4985457,885,787.5014543,818,653,631,655.4985457,0.402814373018,0.00450923247743,0.0699206262017,0.999999991249,6.86381181478e-06,-0.000131139885275,-1.60514666121e-05,1793250319199278592
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,745,720.920555928,684.920555928,665,641.079444072,885,787.920555928,818,653,631,655.079444072,0.403072222145,0.00450962435457,0.0699238271745,0.999999992102,1.30319231912e-06,-0.000123846264704,-2.13714645401e-05,1793250319215945216
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,745,720.329211319,684.329211319,665,641.670788681,885,787.329211319,818,653,631,655.670788681,0.403375136109,0.00451269621022,0.0699347653484,0.999999994378,-2.3672940437e-06,-0.000102592654971,-2.66959289063e-05,1793250319232611840
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.743871681,745,720,684.256128319,665,641.743871681,885.256128319,787,818,653,631,656,0.403692198421,0.00451629547362,0.0699445242511,0.999999995862,-3.58977476991e-06,-8.51272344005e-05,-3.18765786702e-05,1793250319249278464
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.166073678,745,720,684.833926322,665,641.166073678,885.833926322,787,818,653,631,656,0.404027029522,0.00452055710437,0.0699528021151,0.999999996696,-1.73782290434e-06,-7.24193741994e-05,-3.68766124167e-05,1793250319265945088
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,720.409342775,685,665,641,886,787,818,653,631,656,0.404379465764,0.00452391103585,0.0699541434628,0.999999996345,2.97264103677e-05,-7.32187018257e-05,-3.26363113892e-05,1793250319282611712
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,720.983798589,685,665,641,886,787,818,653,631,656,0.404739003232,0.00452689883645,0.069952686888,0.999999993864,7.31350922885e-05,-7.94663066709e-05,-2.46688166093e-05,1793250319299278336
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.559180709,745.559180709,721,685.559180709,665,641,885.440819291,787,818,653,631,656,0.405152621286,0.00452913383582,0.0699562948602,0.999999994115,7.60595268333e-05,-7.18352314013e-05,-2.87036372352e-05,1793250319315944960
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,745.860965967,721,686,665.139034033,641,885.139034033,787,818,653,631,656,0.405576823984,0.00452691273031,0.0699594493105,0.999999994573,7.51955392698e-05,-6.48513662143e-05,-3.15257050724e-05,1793250319332611584
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,745.266556361,721,686,665.733443639,641,885.733443639,787,818,653,631,656,0.406030553721,0.00451016818377,0.069960636944,0.99999999553,6.57715830954e-05,-6.13065185102e-05,-2.92348002237e-05,1793250319349278464
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.683303228,745.316696772,721,685.683303228,665.683303228,641,886,787,818,653,631,656,0.40649052901,0.00449757112784,0.069951026202,0.999999996396,1.52490996772e-05,-7.87813258872e-05,-2.77418568633e-05,1793250319365945088
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.109120642,745.890879358,721,685.109120642,665.109120642,641,886,787,818,653,631,656,0.406955582204,0.00448834612841,0.0699326359942,0.999999990856,-6.86879589239e-05,-0.000113345864498,-2.68976843341e-05,1793250319382611456
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,721,685.464852712,665,641.464852712,886,787.464852712,818,653,631,656,0.407479529768,0.00450097770607,0.0699246222998,0.999999991113,-5.14565108244e-05,-0.000119355289665,-2.96805048261e-05,1793250319399278592
+145,2.416666667,POSE1_TO_POSE2_PRESS,769.040063002,746,721,686,665.040063002,641.959936998,886.040063002,787.959936998,818,653,631,656,0.408023591908,0.0045175070033,0.0699207445974,0.999999992639,-1.24398482399e-05,-0.000116038771998,-3.31900104964e-05,1793250319415945728
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.633021839,746,721,686,665.633021839,641.366978161,886.633021839,787.366978161,818,653,631,656,0.408654540586,0.00451705270721,0.0699403456783,0.999999996463,-3.70857807624e-07,-7.64836187337e-05,-3.4983534198e-05,1793250319432612352
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.779489229,746,721,686,666,641,887,787.220510771,818,653,631,656,0.409280263755,0.00452054116782,0.0699519727452,0.999999997983,1.25510005075e-05,-5.01968233177e-05,-3.68353109388e-05,1793250319449278720
+148,2.466666667,POSE1_TO_POSE2_PRESS,769.200883108,746,721,686,666,641,887,787.799116892,818,653,631,656,0.409897500995,0.00453043241249,0.0699506505234,0.999999997854,2.68578608452e-05,-4.54569926699e-05,-3.8781686845e-05,1793250319465945088
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.643393206,721,686,665.643393206,641.356606794,887.356606794,788,818,653,631,656,0.410526172947,0.00453882497194,0.0699465355223,0.999999996955,4.14106528304e-05,-5.32708470127e-05,-3.92061908928e-05,1793250319482611712
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.097133487,721,686,665.097133487,641.902866513,887.902866513,788,818,653,631,656,0.411160926162,0.00454642049063,0.0699409352473,0.999999995377,5.60942373034e-05,-6.77610832304e-05,-3.88213231584e-05,1793250319499278592
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745,721,686.500462934,665.500462934,642,887.499537066,787.499537066,818,653,631,656,0.41187680462,0.0045508058722,0.0699542136127,0.999999996659,5.55610254164e-05,-4.44477246665e-05,-4.02402801938e-05,1793250319515944960
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.106295781,721,687.106295781,666.106295781,642,887,787.106295781,818,653,631,656,0.412620091863,0.0045558796987,0.0699745982647,0.999999997554,5.53047365079e-05,-9.50668899538e-06,-4.17500836219e-05,1793250319532611584
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.699012071,721,687.699012071,666.699012071,642,887,787.699012071,818,653,631,656,0.413408515969,0.00456728093959,0.0700088181325,0.999999995725,7.13754921605e-05,4.12301906644e-05,-4.18903931003e-05,1793250319549278208
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,721,688,666.43388004,642,887,788,818,653,631,656,0.414171459579,0.00457611592938,0.0700199190892,0.999999993985,8.61565680343e-05,5.33054866499e-05,-4.20286533563e-05,1793250319565945088
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,721,688,665.28367112,642,887,788,818,653,631,656,0.414908114022,0.00458230321505,0.0700071673304,0.999999993825,9.96070309525e-05,2.54920624449e-05,-4.21647994259e-05,1793250319582611712
+156,2.600000000,POSE1_TO_POSE2_PRESS,769.434545595,746,721,688,665.434545595,642,887.434545595,788,818,653,631,656,0.415648727208,0.00458970356348,0.0699598906476,0.999999992187,0.000103723544624,-5.43199878223e-05,-4.37798392105e-05,1793250319599278592
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,721,688.011574656,666,642,888,788,818.011574656,653,631,656,0.416392579046,0.00459747577037,0.0699027006989,0.999999982359,0.000104963729479,-0.00014886220323,-4.58763874476e-05,1793250319615944960
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,746,721,688.600067625,666,642,888,788,818.600067625,653,631,656,0.417233264111,0.00460398937932,0.0699147361125,0.999999983887,0.000115138203061,-0.000129154894105,-4.78421496531e-05,1793250319632611584
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.815006989,746,720.815006989,689,666.184993011,642,888,787.815006989,819,653,631,656,0.418093133925,0.00461000459914,0.0699334299416,0.99999998609,0.000124583051231,-9.95385170084e-05,-4.88940493243e-05,1793250319649278464
+160,2.666666667,POSE1_TO_POSE2_PRESS,769.237648394,746,720.237648394,689,666.762351606,642,888,787.237648394,819,653,631,656,0.418993694065,0.00461496274759,0.0699662461041,0.999999988876,0.000132480381291,-4.89052537498e-05,-4.80076690791e-05,1793250319665945088
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,720.337323598,689.337323598,666.662676402,642,888,787,819,653.337323598,631,656,0.419897402123,0.00461917568269,0.0699945093357,0.999999989479,0.000136650596634,-2.28486345341e-06,-4.86112616619e-05,1793250319682611712
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,720.910625989,689.910625989,666.089374011,642,888,787,819,653.910625989,631,656,0.420803312308,0.00462286729459,0.0700195875081,0.999999988323,0.000138213463548,4.15282709987e-05,-5.02571827363e-05,1793250319699278336
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721,690,666.48470963,641.51529037,888,787,819.48470963,654,631,656,0.421693097978,0.00460215598272,0.0700216865734,0.99999999131,0.000115786654236,3.814570093e-05,-5.01786205522e-05,1793250319715945216
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721,690,666.939006388,641.060993612,888,787,820,653.939006388,631,656,0.422571163799,0.00457851031859,0.0700118745274,0.999999994615,8.98112605184e-05,1.45814482478e-05,-4.99065119952e-05,1793250319732611840
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,690,666.344746708,641.655253292,888,787,820,653.344746708,631,656,0.423372798776,0.00456861289176,0.0699350280354,0.999999990189,7.15466164812e-05,-0.000109224353323,-5.07267407174e-05,1793250319749278464
+166,2.766666667,POSE1_TO_POSE2_PRESS,769.243474163,746,721,690.243474163,666,642,888,787,820,653.243474163,631,656,0.424231707375,0.00457022247264,0.0698780525167,0.99999997779,6.53980119159e-05,-0.000193156424213,-5.3238557115e-05,1793250319765945088
+167,2.783333333,POSE1_TO_POSE2_PRESS,769.823351425,746,721,690.823351425,666,642,888,787,820,653.823351425,631,656,0.42516974984,0.00458773104117,0.0698485322904,0.999999970785,7.59898812593e-05,-0.000221995824774,-5.80876053608e-05,1793250319782611968
+168,2.800000000,POSE1_TO_POSE2_PRESS,769.603000477,746,721,691.396999523,666.793999046,642,888,787,820,653.603000477,631,656,0.42613366203,0.00459274466133,0.0698858910405,0.999999981218,8.82603243206e-05,-0.000162915685621,-5.68575757434e-05,1793250319799278592
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.032081319,746,721,691.967918681,667.935837362,642,888,787,820,653.032081319,631,656,0.42710890731,0.00459228442786,0.0699525484853,0.999999991337,0.000101266124436,-6.5319289847e-05,-5.29643910341e-05,1793250319815945216
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,721,691.458644937,666.917289874,642,888,787,819.458644937,653,631,656.541355063,0.428084067896,0.00459543757458,0.0699993573898,0.99999999337,0.0001019312314,-1.47400472383e-06,-5.35521796005e-05,1793250319832611840
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,721,691.119835525,666,642,888.119835525,787,819.119835525,653,631,657,0.429053606931,0.00459882805304,0.0700377740666,0.999999991877,0.000102425234876,5.27960409749e-05,-5.44804100574e-05,1793250319849278720
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,721,691.717845093,666,642,888.717845093,787,819.717845093,653,631,657,0.430000734631,0.00460230710843,0.0700474190812,0.999999989963,0.000105168291733,7.68767632871e-05,-5.57025382821e-05,1793250319865945344
+173,2.883333333,POSE1_TO_POSE2_PRESS,769.304850094,746,721,691.695149906,666.304850094,641.695149906,889,787,820,653.304850094,631,656.695149906,0.430889809771,0.00460438944832,0.0700116889142,0.999999992413,0.000108473885048,1.63184353744e-05,-5.60525259578e-05,1793250319882611712
+174,2.900000000,POSE1_TO_POSE2_PRESS,769.882024618,746,721,691.117975382,666.882024618,641.117975382,889,787,820,653.882024618,631,656.117975382,0.431727026157,0.00460522409363,0.0699354248232,0.999999984968,0.000112281993944,-0.000119848468776,-5.56234243782e-05,1793250319899278336
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+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,721,692,666.067426405,642,889,787,820,653.033713202,631,656.966286798,0.433493272586,0.00460115304184,0.0698713102925,0.999999971864,0.000105466268502,-0.000203877720662,-5.98483082698e-05,1793250319932611584
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,721,692,667.793148048,642,889,787,820.206851952,654,631.206851952,656,0.435394243159,0.00458025406199,0.0699956079979,0.999999995194,7.87684861412e-05,5.4340771738e-06,-5.81233859265e-05,1793250319965945088
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,721,692,667.214803609,642,889,787,820.785196391,654,631.785196391,656,0.436319862332,0.00457653946566,0.0700250594087,0.999999994175,7.64149268337e-05,5.04447890143e-05,-5.71445523592e-05,1793250319982611968
+180,3.000000000,POSE1_TO_POSE2_PRESS,769.363853928,746,721,692,667,641.636146072,889.363853928,787.363853928,821,654,631.636146072,656,0.437219089773,0.00457676976201,0.0700254641756,0.999999993689,7.53440609463e-05,5.93857639923e-05,-5.84636414478e-05,1793250319999278848
+181,3.016666667,POSE1_TO_POSE2_PRESS,769.942696431,746,721,692,667,641.057303569,889.942696431,787.942696431,821,654,631.057303569,656,0.438102723205,0.00457933095783,0.0700087062937,0.999999994211,7.50310939789e-05,4.70143890254e-05,-6.11404928461e-05,1793250320015945472
+182,3.033333333,POSE1_TO_POSE2_PRESS,769.482714837,746,721,692.517285163,666.482714837,641.517285163,889.482714837,787.482714837,821,653.482714837,631,656,0.438865051859,0.00458334354946,0.0699515512815,0.999999994299,7.72763764897e-05,-4.09869041416e-05,-6.12450827336e-05,1793250320032612096
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+184,3.066666667,POSE1_TO_POSE2_PRESS,768.318518075,746,721,693,666,642,889,787.681481925,821,653,631.681481925,656,0.440315637434,0.00459884338334,0.0698348696933,0.999999966056,0.000100385599232,-0.000232742457496,-6.03506260673e-05,1793250320065945344
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,747,720.645453699,694,662,640,889.354546301,786,822,654,631.354546301,656.354546301,0.448226053758,0.00466389759617,0.069687493029,0.999999854708,0.000203968689614,-0.000495718044583,-5.6952974658e-05,1793250320265945344
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769.593029445,746,720.593029445,694,656,637,890,786,822.406970555,653.406970555,631,656,0.454362153265,0.00474892089527,0.0695647483116,0.999999737103,0.000271954624771,-0.000668497493172,-7.03257830108e-05,1793250320632611584
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+242,4.033333333,POSE1_TO_POSE2_PRESS,770,746,720,694.663242984,654.663242984,637,890,785.663242984,823,653.663242984,631,656,0.454694529143,0.00474851247862,0.0695455394094,0.999999711521,0.000276325760723,-0.000704436750946,-6.61080402977e-05,1793250321032611840
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+247,4.116666667,HOLD_POSE2,770,746,720,695,655,637,889,785,823,654,631,657,0.454697327627,0.00474766285711,0.0695473150479,0.999999712547,0.000276489921683,-0.000702983917186,-6.53647073628e-05,1793250321137840128
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.155202104,746.844797896,720.155202104,695,655.844797896,637,889,786,822,654,631,657,0.452101726577,0.00468712582554,0.069469934266,0.999999636214,0.000263339603232,-0.000810993865883,-2.26708492382e-05,1793250321909225472
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,746,720,691,664.414623165,641,888,787.414623165,819,653,630,655.414623165,0.429117345813,0.00454057914255,0.0697200141712,0.99999989731,0.000112067343765,-0.000437953442713,3.19147299822e-05,1793250322475892224
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,746,720,691,664.165787026,641,888,787.165787026,818.834212974,653,630.165787026,655.165787026,0.428184789781,0.00453345406332,0.0697258866086,0.999999906266,0.00010196718361,-0.000419641547193,3.11654770098e-05,1793250322492558848
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,746,720,691,664.741509325,641,888,787.741509325,818.258490675,653,630.741509325,655.741509325,0.427329563821,0.00452729330727,0.0698013112118,0.999999948339,8.82191809661e-05,-0.000307367007675,3.26469474152e-05,1793250322509226240
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.677314075,745.677314075,720,690.677314075,664.677314075,641,887.677314075,787.677314075,818.322685925,653,630.677314075,655.677314075,0.426464211765,0.00452074027658,0.0698463655822,0.999999966752,8.37660463368e-05,-0.000241384271196,3.48244848377e-05,1793250322525892864
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.09169316,745.09169316,720,690.09169316,664.09169316,641,887.09169316,787.09169316,818.90830684,653,630.09169316,655.09169316,0.425590608677,0.00451386760806,0.0698666732952,0.999999972809,8.6886673799e-05,-0.000213121609188,3.75692004656e-05,1793250322542559488
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.488360733,745.488360733,720.488360733,690,664,641,887,787,818.511639267,652.511639267,630.488360733,655.488360733,0.424657749754,0.00450464791823,0.0698480591666,0.999999967841,7.00431886529e-05,-0.000241068691242,3.60124057849e-05,1793250322559226112
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,746,720.932658435,689.932658435,664,641,887,787,818.067341565,652.067341565,631,656,0.423702242578,0.00449570014546,0.0698166752669,0.999999955708,5.1964393885e-05,-0.000291068699916,3.40969007392e-05,1793250322575892224
+333,5.550000000,POSE2_TO_POSE3_RETREAT,769,746,720.35397857,689.35397857,664,641,887,787,818.64602143,652.64602143,631,656,0.422658290642,0.00449212548194,0.0697431924668,0.999999905839,5.26472417751e-05,-0.00042928732486,3.5521082851e-05,1793250322592558848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.776895698,746,720,689,664,641,887.223104302,787.223104302,819,653,631,655.776895698,0.421674105579,0.00448584710724,0.0696931601215,0.999999864477,4.89629520419e-05,-0.000517029894897,3.64440644218e-05,1793250322609225728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.202328528,746,720,689,664,641,887.797671472,787.797671472,819,653,631,655.202328528,0.420784072899,0.00447530949502,0.0696800699665,0.999999860647,3.83989813642e-05,-0.00052525606027,3.65774908933e-05,1793250322625892352
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.380257342,746,720.380257342,689,664,641,887.619742658,788,819,653,631,655.380257342,0.419988838985,0.00446619592514,0.0697332814741,0.999999906226,2.07670842799e-05,-0.000431143643545,3.51053338636e-05,1793250322642559232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.967201701,746,720.967201701,689,664,641,887.032798299,788,819,653,631,655.967201701,0.419245132531,0.00445785638713,0.0698225309268,0.999999959869,-7.06549398186e-07,-0.000281405582508,3.27604691078e-05,1793250322659226368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,721,688.453336374,664,641,886.453336374,787.453336374,819,653,631,656,0.418428826549,0.00445226332898,0.0698634197449,0.999999973994,-3.17761237353e-06,-0.000225056396917,3.67629819277e-05,1793250322675892736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,745.874576508,721,687.874576508,664,641,886,787.125423492,818.874576508,653,631,655.874576508,0.417594752639,0.0044458298797,0.0698845208816,0.999999979789,-4.39592636962e-06,-0.000197010266832,3.98631260466e-05,1793250322692559360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,745.296751583,721,687.296751583,664,641,886,787.703248417,818.296751583,653,631,655.296751583,0.416712089094,0.00443577880852,0.0698445724076,0.999999967722,-5.15239433398e-06,-0.000251115668185,3.83533492763e-05,1793250322709225728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,745.279937528,720.720062472,687,664,641,886,787.720062472,818,653,631,655.279937528,0.415854044003,0.00442783104505,0.0698104644533,0.999999954764,-1.2271826063e-05,-0.0002982316438,3.71328999086e-05,1793250322725892608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,745.855427432,720.144572568,687,664,641,886,787.144572568,818,653,631,655.855427432,0.415021990634,0.00442210391191,0.0697825228038,0.999999941892,-2.61091460942e-05,-0.000337968322001,3.62179166917e-05,1793250322742559232
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.427500437,746,720,687.427500437,664,641,886,787,818,653,631,655.572499563,0.414202711118,0.00441951779008,0.0697554880273,0.9999999214,-3.22949044783e-05,-0.000393494785096,3.63284799156e-05,1793250322759225856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.99842712,746,720,687.99842712,664,641,886,787,818,653,631,655.00157288,0.413387717158,0.00441798547596,0.0697287575041,0.999999895476,-3.5913567645e-05,-0.000454318717493,3.67831134306e-05,1793250322775892736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.403891388,746,720.596108612,687.403891388,664,641,886,787,818,653,631,655.596108612,0.412730263759,0.00444800004065,0.0697710351394,0.99999993161,1.62846086623e-08,-0.000368258657116,3.41298895362e-05,1793250322792559616
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.18653468,745.81346532,721,687,664.37306936,641,886,787,818,653,631,656,0.412075157379,0.00447232678813,0.0698153021054,0.99999995874,2.90567482647e-05,-0.000283920100214,3.26434247917e-05,1793250322809226496
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769.761691098,745.238308902,721,687,665.523382196,641,886,787,818,653,631,656,0.411424033875,0.00448462211632,0.0698633164269,0.999999977678,4.35164163237e-05,-0.00020401345596,3.36056442766e-05,1793250322825893120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,745,720.662690304,687,665.325380608,641,886,787,818.337309696,653,631,656,0.410751766435,0.00447839149921,0.0698718823639,0.999999979754,3.58585542193e-05,-0.000194910274921,3.48840223566e-05,1793250322842559488
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,745,720.086744763,687,664.173489525,641,886,787,818.913255237,653,631,656,0.410064540373,0.00445905436628,0.0698525398248,0.999999971435,1.25532445907e-05,-0.00023589828958,3.63860725459e-05,1793250322859226112
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769.499299268,745,720,687,664,641,886,787,819,653,631.500700732,656,0.409409914108,0.00445722048494,0.0698110131207,0.999999952437,9.58754349486e-06,-0.000306359362403,3.43366156666e-05,1793250322875892736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745.08840574,720.08840574,687,664,641,886,786.91159426,818.91159426,653,631.91159426,656,0.408771284119,0.00445831218891,0.0697714760813,0.99999993062,9.06592848934e-06,-0.000371026996158,3.18876207595e-05,1793250322892559104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745.666257952,720.666257952,687,664,641,886,786.333742048,818.333742048,653,631.333742048,656,0.408189211988,0.0044584179779,0.0697647328514,0.999999929331,2.10817833681e-06,-0.000374686203987,3.07131693581e-05,1793250322909225984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745.758419217,720.758419217,686.758419217,664,641,886,786.241580783,818,653,631,656,0.407634151047,0.0044586207367,0.0697719564955,0.999999934886,1.07619361374e-06,-0.000359577245864,3.0501295881e-05,1793250322925892608
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745.186554547,720.186554547,686.186554547,664,641,886,786.813445453,818,653,631,656,0.407116019253,0.00445895607047,0.0697982753404,0.999999948648,8.14578452958e-06,-0.000318808866786,3.16054376543e-05,1793250322942559232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745.38921298,720.38921298,685.61078702,664,641,886,787,818,653,631.38921298,656,0.406610820726,0.00446752385949,0.0698071356371,0.999999951169,1.95004902279e-05,-0.000310282800049,3.17113417233e-05,1793250322959225856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.966870193,720.966870193,685.033129807,664,641,886,787,818,653,631.966870193,656,0.406111884018,0.00448007753493,0.0698075430763,0.999999948606,3.29299094085e-05,-0.000317367406077,3.13339317559e-05,1793250322975892224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.440540176,720.440540176,685.559459824,664,641,885.440540176,787,818,653,631.440540176,656,0.405660368519,0.00448325819006,0.0697996771704,0.999999943102,3.39580002037e-05,-0.000334137416329,3.15527063801e-05,1793250322992559104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745,720,686,664,641,885.148405156,787,818.148405156,653,630.851594844,655.851594844,0.405230989534,0.00448348203352,0.0697982832926,0.999999941911,3.16476647893e-05,-0.000337908103359,3.15240244924e-05,1793250323009225728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745,720,686,664,641,885.724237906,787,818.724237906,653,630.275762094,655.275762094,0.404857056999,0.00447683229721,0.0698169795109,0.999999953524,2.18953014862e-05,-0.000302541736515,3.06781628645e-05,1793250323025892352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769.299449958,745,720,685.700550042,664.299449958,641,886,787,818.700550042,653,630.299449958,655.299449958,0.404496031091,0.00447311519919,0.0698337600578,0.999999962564,1.77687466628e-05,-0.000271370334019,3.0235241652e-05,1793250323042558720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.874091561,745,720,685.125908439,664.874091561,641,886,787,818.125908439,653,630.874091561,655.874091561,0.404146866271,0.0044720931681,0.0698487801197,0.999999969587,1.88122565855e-05,-0.000244054065845,3.01626188864e-05,1793250323059225344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.55107467,745,720,685,664.55107467,641,885.55107467,787,818,653,631,656,0.403814896823,0.00447075968218,0.0698470784854,0.999999969117,1.57114643625e-05,-0.000246204041059,3.00300136658e-05,1793250323075891968
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,744.975363747,720,685,664,641,885,787,818,653,631,656,0.403489161148,0.00446926956346,0.069840482813,0.99999996647,1.08888398447e-05,-0.000257006773923,2.981468482e-05,1793250323092558848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,744.380601549,720,685,664,641,885,787,818,653,631,656,0.403196031754,0.00446617704473,0.0698292088744,0.999999961296,-6.86996115185e-06,-0.000276717449362,2.80744683414e-05,1793250323109225472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,744.207044155,720,685,664,641,885,787,818,653,631,656,0.4029165107,0.0044636404487,0.0698195184685,0.999999956272,-2.15471121316e-05,-0.000293732056468,2.67218838923e-05,1793250323125892096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,744.782042525,720,685,664,641,885,787,818,653,631,656,0.402661174112,0.00446209182632,0.0698126422829,0.999999952383,-3.07476221497e-05,-0.000305955269731,2.60581905743e-05,1793250323142558720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769.356254339,745,720.356254339,685,664,641,885,787,818,653,631,655.643745661,0.402429398323,0.00446300245941,0.069806913996,0.999999949431,-3.18246176019e-05,-0.000315323190404,2.6375493198e-05,1793250323159225344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769.929986052,745,720.929986052,685,664,641,885,787,818,653,631,655.070013948,0.402212005326,0.00446541435804,0.0698018864492,0.999999947089,-2.79425708876e-05,-0.000322948083589,2.72916499952e-05,1793250323175892224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769.477745849,745,720.477745849,685,664,641,885,787,818,653,631,655.522254151,0.402030176543,0.00446649620414,0.0697987333876,0.999999945332,-2.27091600009e-05,-0.000328634526046,2.86305190365e-05,1793250323192558848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,720.113541363,684.886458637,664,641,885.113541363,787,818,653,631,656,0.401860300232,0.00446963627356,0.0697966563063,0.999999944292,-5.54919641672e-06,-0.000332426747576,2.96340022063e-05,1793250323209225472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,720.690315309,684.309684691,664,641,885.690315309,787,818,653,631,656,0.401719020582,0.00448192784375,0.069797906092,0.999999943494,5.95030762877e-05,-0.000329590070023,2.90294486344e-05,1793250323225892096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.266949491,745,720.733050509,684.266949491,664,641,885.466101018,787,818.266949491,653,631,656,0.401591425204,0.00449637596909,0.0697993481187,0.999999942309,9.20013806309e-05,-0.000325983400206,2.55348205588e-05,1793250323242558720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.843421584,745,720.156578416,684.843421584,664,641,884.313156832,787,818.843421584,653,631,656,0.401479696474,0.0045133245763,0.0698010130446,0.999999944386,8.67540052936e-05,-0.00032148394113,1.86892089691e-05,1793250323259225600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769.571873292,745,720,685,664,641,884.428126708,787,818.571873292,653,631,656,0.401383387822,0.00451212593285,0.0698006507194,0.999999945509,7.52326156273e-05,-0.00032095111154,1.76593815213e-05,1793250323275892480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.984338617,664,641,885,787,818,653,630.984338617,656,0.401293376223,0.00450438772972,0.0697995151795,0.999999946101,6.17692153921e-05,-0.000321916651711,1.87765255412e-05,1793250323292558848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.405454175,664,641,885,787,818,653,630.405454175,656,0.401223032581,0.00450483289851,0.0697977591967,0.999999945508,6.26034423848e-05,-0.000323573143092,1.91120130699e-05,1793250323309225472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.173222333,664,641,885,787,818,653,630.173222333,656,0.401159689213,0.00450539682612,0.0697976402324,0.999999945514,6.32746844901e-05,-0.000323394559716,1.95839099674e-05,1793250323325892352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.751412643,664,641,885,787,818,653,630.751412643,656,0.401112711454,0.00450623839406,0.0698013483733,0.999999946915,6.3564892121e-05,-0.000318925845028,2.03747115761e-05,1793250323342558976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.672709709,664,641,885,787,818,653,631,655.672709709,0.401076767043,0.0045052783765,0.0698054748528,0.999999949146,6.11721649377e-05,-0.000312286512179,2.10541708762e-05,1793250323359225600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.098576216,664,641,885,787,818,653,631,655.098576216,0.401049144009,0.00450295959848,0.0698099168449,0.999999951944,5.67559612626e-05,-0.000304010092895,2.16496555952e-05,1793250323375892224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.486918194,664,641,885,787,818,653,630.513081806,655.486918194,0.401027654179,0.00450370254197,0.0698127552124,0.999999953234,5.80397892263e-05,-0.000299477742702,2.18230865156e-05,1793250323392558848
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7233e09edbf3d365b7406ea2583e09a405727495
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da76aeca893972c605a9b1abb25e7314ae2f967d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03cbd2297b4b6534cefeee2fcaa2cbe437cf7b0667d5dfaf6e40823d3238cebc
+size 25978865
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..876d21c3818a8555f3e9441cbae8fbd50b72444e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,412 @@
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+7,0.116666667,BASELINE,769.068126968,745,720.068126968,685,664.931873032,641,885.068126968,787,817.931873032,653,631,656,0.400970253343,0.00450070579942,0.0698286374897,0.999999961014,5.2038458375e-05,-0.00027357068675,2.05666110605e-05,1793250324098727424
+8,0.133333333,BASELINE,769.656873457,745,720.656873457,685,664.343126543,641,885.656873457,787,817.343126543,653,631,656,0.400970373783,0.00449900504239,0.0698284217084,0.99999996116,5.04202518354e-05,-0.000273309591935,2.09852298025e-05,1793250324115394048
+9,0.150000000,BASELINE,770,745,720.758812144,684.758812144,664,641,886,787,817,653,631,656,0.400970598673,0.00449819612832,0.0698286214262,0.999999961298,4.98561052297e-05,-0.000272887758643,2.12294310622e-05,1793250324132060928
+10,0.166666667,BASELINE,770,745,720.180689341,684.180689341,664,641,886,787,817,653,631,656,0.400970969476,0.00449863310241,0.0698294015886,0.999999961428,5.07644608665e-05,-0.000272241376716,2.12299743112e-05,1793250324148727552
+11,0.183333333,BASELINE,770,745.397508298,720,684,664.397508298,641.397508298,885.602491702,787,817.397508298,653,630.602491702,656.397508298,0.400971805622,0.00449902066549,0.0698299947588,0.999999961643,5.02513720396e-05,-0.000271551561286,2.11652625871e-05,1793250324165393920
+12,0.200000000,BASELINE,770,745.975740011,720,684,664.975740011,641.975740011,885.024259989,787,817.975740011,653,630.024259989,656.975740011,0.400972853332,0.00449938576436,0.0698305029149,0.999999961895,4.90920369112e-05,-0.000270841999167,2.10708833019e-05,1793250324182060544
+13,0.216666667,BASELINE,770,745.450935612,720,684,664.450935612,641.450935612,885,787,818,653.549064388,630.549064388,656.450935612,0.400972627624,0.00449919701533,0.069829820817,0.999999961833,4.87582674266e-05,-0.000271167480849,2.06104875503e-05,1793250324198727424
+14,0.233333333,BASELINE,769.87442231,745,720,684.12557769,664.12557769,641,885,787,818,653.87442231,631,656,0.400972342211,0.00449922150614,0.0698292962819,0.999999961748,4.9054896977e-05,-0.000271450734478,2.03060221702e-05,1793250324215394048
+15,0.250000000,BASELINE,769.285345525,745,720,684.714654475,664.714654475,641,885,787,818,653.285345525,631,656,0.400972042262,0.0045001225733,0.0698295456899,0.999999961627,5.15448467974e-05,-0.000271410826358,2.06362471418e-05,1793250324232060672
+16,0.266666667,BASELINE,769,745,720,684.69998481,665,641,884.69998481,787,818,653.30001519,631,656,0.400972380292,0.00450080946312,0.0698300294563,0.999999961695,5.35934969197e-05,-0.000270752177254,2.07719622853e-05,1793250324248727296
+17,0.283333333,BASELINE,769,745,720,684.118115254,665,641,884.118115254,787,818,653.881884746,631,656,0.400973317683,0.00450129514034,0.0698307333949,0.999999961942,5.52275603962e-05,-0.000269512241426,2.07249418475e-05,1793250324265394176
+18,0.300000000,BASELINE,769,745,720,684,665.457672974,641,884.457672974,787,818,653.542327026,631,655.542327026,0.400973392294,0.0045014106439,0.0698307894535,0.999999962016,5.38794689953e-05,-0.000269515055876,2.06423445418e-05,1793250324282060800
+19,0.316666667,BASELINE,769,745,720,684.03265728,665.96734272,641,885.03265728,787,818,653,631,655.03265728,0.40097319725,0.00450135934615,0.0698306649361,0.999999962035,5.17857674272e-05,-0.00026986291261,2.05684947502e-05,1793250324298727424
+20,0.333333333,BASELINE,769,745,720,684.620301664,665.379698336,641,885.620301664,787,818,653,631,655.620301664,0.400972154022,0.00450007561534,0.0698302758991,0.999999961899,4.99287210482e-05,-0.00027069547598,2.07972913056e-05,1793250324315394048
+21,0.350000000,BASELINE,769,745,720,684.795188665,664.795188665,641,885.795188665,787,818,653,631,656,0.400971326011,0.00449960952404,0.0698301909236,0.999999961798,4.92534062058e-05,-0.000271188752949,2.08746546187e-05,1793250324332060672
+22,0.366666667,BASELINE,769,745,720,684.216402875,664.216402875,641,885.216402875,787,818,653,631,656,0.400970890978,0.00450063639855,0.0698306611483,0.999999961762,5.0735869639e-05,-0.000271062511156,2.06755089712e-05,1793250324348727296
+23,0.383333333,BASELINE,769.361607725,745,720,684.361607725,664,641,885,787,818,653,631,656,0.400970738574,0.0045012359624,0.0698308249724,0.999999961761,5.12798138776e-05,-0.0002709779828,2.04783183042e-05,1793250324365393920
+24,0.400000000,BASELINE,769.939155463,745,720,684.939155463,664,641,885,787,818,653,631,656,0.400970754947,0.00450158035075,0.0698308058242,0.999999961782,5.12633060547e-05,-0.000270918364298,2.02822950671e-05,1793250324382060800
+25,0.416666667,BASELINE,769.48669805,745,720,685,664.51330195,641,885,787,818,653,631,656,0.400969766777,0.00450151752825,0.0698294707135,0.9999999613,5.28528715858e-05,-0.000272391192944,2.02452327855e-05,1793250324398727680
+26,0.433333333,BASELINE,769,745,720,684.910652503,664.910652503,641,885,787,818,653,631,656,0.400968994928,0.00450126176148,0.0698283483738,0.999999960896,5.40154497267e-05,-0.000273640130475,2.02754284993e-05,1793250324415394048
+27,0.450000000,BASELINE,769,745,720,684.321749458,664.321749458,641,885,787,818,653,631,656,0.400970093945,0.0045001953164,0.0698292820834,0.999999961287,5.17332573656e-05,-0.000272628314465,2.05770159972e-05,1793250324432060672
+28,0.466666667,BASELINE,769,745,720,684.26369521,664,641,885,787,818,653,630.73630479,656,0.400970909194,0.00449980328687,0.0698297393459,0.999999961519,5.0791126545e-05,-0.000271951582721,2.05849542352e-05,1793250324448727552
+29,0.483333333,BASELINE,769,745,720,684.844974705,664,641,885,787,818,653,630.155025295,656,0.400971382683,0.00450022349734,0.0698296227939,0.999999961566,5.14629140179e-05,-0.000271678413532,2.02392326734e-05,1793250324465394176
+30,0.500000000,BASELINE,769,745,720,684.577077137,664,641,885,787,818,653,630,656,0.400971538402,0.00449988934836,0.0698300465362,0.999999961791,5.05492612575e-05,-0.000271026452944,2.0170370108e-05,1793250324482060544
+31,0.516666667,BASELINE,769,745,720,684.000340574,664,641,885,787,818,653,630,656,0.400971578551,0.00449928084481,0.0698306667792,0.999999962079,4.90589964079e-05,-0.000270236728923,2.02021989776e-05,1793250324498727168
+32,0.533333333,BASELINE,769,745,720,684.573968574,664.573968574,641,885,787,818,653,630.573968574,656,0.400970653675,0.00449879474224,0.0698299482392,0.999999961761,4.86971878018e-05,-0.000271455141619,2.0478754156e-05,1793250324515394304
+33,0.550000000,BASELINE,769,744.847676032,720.152323968,685,664.847676032,641,885,787,818,653,631,656,0.400970255415,0.00449861589155,0.0698297388067,0.999999961629,4.89404672176e-05,-0.000271879347598,2.07029430954e-05,1793250324532061184
+34,0.566666667,BASELINE,769,744.257690837,720.742309163,685,664.257690837,641,885,787,818,653,631,656,0.400971371883,0.00449931963736,0.0698309944283,0.999999962033,5.09203857251e-05,-0.000270018208541,2.07762564604e-05,1793250324548727808
+35,0.583333333,BASELINE,769,744.325694063,720.674305937,685,664.325694063,641,885,787,818,653,631,656,0.400971971048,0.00450002461994,0.069831619975,0.99999996218,5.25405990048e-05,-0.000269154168584,2.08551433607e-05,1793250324565394432
+36,0.600000000,BASELINE,769,744.903960565,720.096039435,685,664.903960565,641,885,787,818,653,631,656,0.400972169052,0.00450073056171,0.0698317569053,0.999999962132,5.38818647441e-05,-0.000269063368656,2.09383524889e-05,1793250324582061312
+37,0.616666667,BASELINE,769,745,720.479648275,684.520351725,664.520351725,641,885.479648275,787,818,653,631,656,0.400970777937,0.00450104783474,0.0698302729244,0.99999996157,5.29902733035e-05,-0.000271342904537,2.0628340752e-05,1793250324598727936
+38,0.633333333,BASELINE,769,745,720.943829679,684.056170321,664,641,885.943829679,787,817.943829679,653,631,656,0.40096945272,0.00450115754668,0.0698288906484,0.999999961068,5.16598446873e-05,-0.000273464122488,2.03069491962e-05,1793250324615394304
+39,0.650000000,BASELINE,769,745,720.354513339,684.645486661,664,641,885.354513339,787,817.354513339,653,631,656,0.400971756923,0.00450003188422,0.069831537768,0.999999962175,5.03849834119e-05,-0.000269601938909,2.06208613604e-05,1793250324632060928
+40,0.666666667,BASELINE,769.23061981,745,720.23061981,685,664,641,885,787,817.23061981,653,631,656,0.400972610441,0.0044997327391,0.0698326103932,0.999999962613,5.013503057e-05,-0.000268011145268,2.07274296446e-05,1793250324648727552
+41,0.683333333,BASELINE,769.809437003,745,720.809437003,685,664,641,885,787,817.809437003,653,631,656,0.400971273664,0.00450068149715,0.0698313057948,0.999999962057,5.14325183022e-05,-0.000269849771174,2.05209432937e-05,1793250324665394176
+42,0.700000000,BASELINE,770,745,720.612366239,685,664,641,885,787,818.387633761,653,631,656,0.400970707165,0.00450129635315,0.0698308315422,0.999999961751,5.21765783394e-05,-0.000270851495396,2.03803916719e-05,1793250324682060800
+43,0.716666667,BASELINE,770,745,720.034474021,685,664,641,885,787,818.965525979,653,631,656,0.400970518735,0.00450174732326,0.06983076484,0.999999961568,5.26490048792e-05,-0.000271442451361,2.02722021491e-05,1793250324698727424
+44,0.733333333,BASELINE,770,745,720,685,664.538907553,641,885,787,818.461092447,653,630.461092447,656,0.400968747999,0.00450051578361,0.0698293461285,0.999999961108,5.19201972832e-05,-0.000273266114201,2.03297204429e-05,1793250324715394304
+45,0.750000000,BASELINE,769.884915978,745,720,684.884915978,664.884915978,641,885,787,818,653,630.115084022,656,0.400967917751,0.00449938434218,0.069828578047,0.999999960931,5.09922593192e-05,-0.000274083515084,2.03796370732e-05,1793250324732061184
+46,0.766666667,BASELINE,769.296055649,745,720,684.296055649,664.296055649,641,885,787,818,653,630.703944351,656,0.400971372543,0.00449910439781,0.0698308415693,0.999999961997,4.95582655318e-05,-0.000270436409495,2.03549820724e-05,1793250324748727808
+47,0.783333333,BASELINE,769.288772408,745,720,684,664,641,885,787,818,653,631,656,0.40097353016,0.00449951273614,0.0698322794469,0.999999962621,4.95385251766e-05,-0.000268132480622,2.02068391902e-05,1793250324765394176
+48,0.800000000,BASELINE,769.869523493,745,720,684,664,641,885,787,818,653,631,656,0.4009743762,0.00450061699922,0.0698328825129,0.999999962809,5.0948740677e-05,-0.000267186641454,1.99338373257e-05,1793250324782060544
+49,0.816666667,BASELINE,769.554825824,745,720.445174176,684.445174176,664,641,885.445174176,787,818,653.445174176,631,656,0.400974125836,0.00450061683351,0.0698330895237,0.999999962959,5.08300621711e-05,-0.000266643839404,1.99776405856e-05,1793250324798727424
+50,0.833333333,BASELINE,769.019360329,745,720.980639671,685,664,641,885.980639671,787,818,653.980639671,631,656,0.400973512468,0.00450030562548,0.0698331282913,0.999999963073,5.02644004704e-05,-0.000266312856294,2.01118484e-05,1793250324815394304
+51,0.850000000,BASELINE,769.593932313,745,720.406067687,685,664,641,885.406067687,787,818,653.406067687,631,656,0.400971600058,0.00450025220444,0.0698316334314,0.999999962465,4.95853436109e-05,-0.000268707137501,2.02060114004e-05,1793250324832060928
+52,0.866666667,BASELINE,769.826379281,745,720,685,664,641,885,787,818,653,631,656,0.400969817092,0.00450004421927,0.069830109942,0.999999961856,4.93818662296e-05,-0.000270997677883,2.02541239245e-05,1793250324848727808
+53,0.883333333,BASELINE,769.234361175,745,720,685,664,641,885,787,818,653,631,656,0.400968346064,0.00449946375996,0.0698285174603,0.999999961255,5.03244572419e-05,-0.000273038219785,2.01912623662e-05,1793250324865394944
+54,0.900000000,BASELINE,769,745,720,684.651154476,664.348845524,641,885,787,818,653,631,656,0.400967999156,0.00450000754883,0.0698285835358,0.999999961065,5.13351456478e-05,-0.000273544349624,2.01901684275e-05,1793250324882061568
+55,0.916666667,BASELINE,769,745,720,684.073721635,664.926278365,641,885,787,818,653,631,656,0.400968388848,0.00450128802161,0.0698297364108,0.999999961146,5.23904560612e-05,-0.000273045028216,2.02295488374e-05,1793250324898727680
+56,0.933333333,BASELINE,769,745,720,684,664.499014763,641,885,787,818,653,631,656,0.40097011183,0.00450067643665,0.0698303794856,0.999999961634,5.17167728083e-05,-0.000271383568508,2.02248791966e-05,1793250324915394048
+57,0.950000000,BASELINE,769,745,720,684.077223669,664,641,885,787,818,653,631,656,0.400971711908,0.00450001150693,0.0698307999522,0.999999962068,5.09307609734e-05,-0.000269928865114,2.01863340226e-05,1793250324932060672
+58,0.966666667,BASELINE,769,745,720,684.666256629,664,641,885,787,818,653,631,656,0.400971204134,0.00450082832192,0.0698302395611,0.999999961783,5.10773995027e-05,-0.000270971737738,1.9966003108e-05,1793250324948727552
+59,0.983333333,BASELINE,769.250832853,745,720,685,664,641,884.749167147,787,818,653,631,656,0.400970924141,0.00450123415003,0.0698302786827,0.999999961666,5.17249762499e-05,-0.000271276764888,2.00160311147e-05,1793250324965393920
+60,1.000000000,BASELINE,769.829582808,745,720,685,664,641,884.170417192,787,818,653,631,656,0.400970941931,0.00450110268967,0.0698311015549,0.999999961769,5.30274361665e-05,-0.000270617197047,2.04195028798e-05,1793250324982060544
+61,1.016666667,BASELINE,769.595061581,745,720,685,664,641,884.404938419,787,818,653,631,656,0.400971331768,0.0045009850755,0.0698312372434,0.999999961974,5.24609046135e-05,-0.000269971174635,2.03620053625e-05,1793250324998727424
+62,1.033333333,BASELINE,769.02112263,745,720,685,664,641,884.97887737,787,818,653,631,656,0.400971876878,0.00450087324002,0.0698310861366,0.999999962222,5.11143517787e-05,-0.00026933080543,2.01121228797e-05,1793250325015394304
+63,1.050000000,BASELINE,769.555280739,745,720,685,664.555280739,641,885,787,818,653,631,656,0.400972420625,0.00450147853645,0.0698316008055,0.999999962187,5.22174557422e-05,-0.000269255443651,2.00380176098e-05,1793250325032060928
+64,1.066666667,BASELINE,769.865179543,745,720,684.865179543,665,641,885,787,818,653,631,656,0.400972869032,0.00450179308162,0.0698319991593,0.999999962234,5.30728969728e-05,-0.000268916834375,1.99943766224e-05,1793250325048727808
+65,1.083333333,BASELINE,769.27537323,745,720,684.27537323,665,641,885,787,818,653,631,656,0.400972995868,0.00450103394121,0.0698319191289,0.999999962597,5.27766629389e-05,-0.000267616973924,2.00308792532e-05,1793250325065394432
+66,1.100000000,BASELINE,769.308872384,745,720,684,665,641,885,787,818,653,631,656,0.400973144728,0.00450082821873,0.0698318050291,0.999999962709,5.26553607607e-05,-0.000267217233085,2.00851952164e-05,1793250325082061056
+67,1.116666667,BASELINE,769.888248034,745,720,684,665,641,885,787,818,653,631,656,0.400973312877,0.00450110716686,0.069831661092,0.999999962602,5.26872598582e-05,-0.000267605796185,2.01551116809e-05,1793250325098727424
+68,1.133333333,BASELINE,769.536084085,745,720,684.463915915,665,641,885,787,818,653,631,656,0.400972017757,0.00450098128891,0.069831083716,0.999999962186,5.13282937826e-05,-0.000269429701006,2.00324221288e-05,1793250325115394304
+69,1.150000000,BASELINE,769,745,720,684.961335412,665,641,885,787.038664588,818,653,631,656,0.400970557461,0.00450073296429,0.0698305130158,0.999999961764,4.97879842971e-05,-0.000271291085022,1.98714955609e-05,1793250325132060928
+70,1.166666667,BASELINE,769,745,720,684.387046305,665,641,885,787.612953695,818,653,631,656,0.400971653249,0.00450012858773,0.0698314697363,0.999999962378,5.0340095564e-05,-0.000268919838289,1.98185079006e-05,1793250325148727296
+71,1.183333333,BASELINE,769,745,720.193719663,684,665,641,885,788,818,653,631,656,0.400972104014,0.00450025590471,0.069831898405,0.999999962622,5.13080888152e-05,-0.000267824516101,1.98287273051e-05,1793250325165393920
+72,1.200000000,BASELINE,769,745,720.787873948,684,665,641,885,788,818,653,631,656,0.400971221462,0.00450189569288,0.0698312355472,0.99999996211,5.31357447447e-05,-0.000269366635406,1.99696009485e-05,1793250325182060544
+73,1.216666667,BASELINE,769,744.63027415,720.63027415,684.36972585,664.63027415,641,885,787.63027415,818,653,631,656,0.400971431846,0.0045024915369,0.069831422961,0.999999962163,5.40217179197e-05,-0.000268986332173,2.00549172458e-05,1793250325198727424
+74,1.233333333,BASELINE,769,744.055253338,720.055253338,684.944746662,664.055253338,641,885,787.055253338,818,653,631,656,0.400972249097,0.00450250771761,0.069832082499,0.999999962531,5.43848097059e-05,-0.000267538579381,2.01093846143e-05,1793250325215394304
+75,1.250000000,BASELINE,769.520711058,744.520711058,720,685,664.520711058,641,885,787,818,653,631,656,0.400971576803,0.00450142691158,0.0698317707538,0.99999996236,5.36936315607e-05,-0.000268286112361,2.04887981518e-05,1793250325232061184
+76,1.266666667,BASELINE,770,745,720.099038629,685,664.900961371,641,885,787,818,653,631,656,0.400970893453,0.00450018546942,0.069831332191,0.999999962177,5.28198100155e-05,-0.00026911709952,2.07828535041e-05,1793250325248727808
+77,1.283333333,BASELINE,770,745,720.688573206,685,664.311426794,641,885,787,818,653,631,656,0.400970939562,0.00449872600471,0.0698307769137,0.999999962223,5.15964838149e-05,-0.000269205629831,2.04830892762e-05,1793250325265394176
+78,1.300000000,BASELINE,769.725758544,745,721,685,664.274241456,641,885,787,818,653,631,656,0.400971045701,0.00449938075323,0.0698305838783,0.999999962213,5.23435170376e-05,-0.000269117326996,2.02329731037e-05,1793250325282060800
+79,1.316666667,BASELINE,769.144419871,745,721,685,664.855580129,641,885,787,818,653,631,656,0.400971219063,0.00450240301045,0.0698307964837,0.999999962135,5.52969705705e-05,-0.000268831005344,2.00384531401e-05,1793250325298727680
+80,1.333333333,BASELINE,769,745,720.568276513,685,665,641,885,787,818,653,631,656,0.400971747135,0.00450201451989,0.0698310129234,0.999999962294,5.37987699824e-05,-0.000268551080565,1.99462586393e-05,1793250325315394560
+81,1.350000000,BASELINE,769,745,720,685,664.993843032,641,885,787,818,653,631,656,0.400972392371,0.00450051265545,0.0698312306537,0.999999962525,5.084913608e-05,-0.000268269468898,1.9887281559e-05,1793250325332061184
+82,1.366666667,BASELINE,769,745,720,685,664.418730713,641,885,787,818,653,631,656,0.40097302993,0.00450030640245,0.0698314505139,0.999999962752,4.97498976879e-05,-0.000267636585502,1.97723600504e-05,1793250325348727552
+83,1.383333333,BASELINE,769,745,720,684.839127172,664.160872828,641,885.160872828,787,818,653,631,656,0.400973297532,0.00449999854092,0.0698318256852,0.999999962888,4.88410176746e-05,-0.000267299923249,1.97258889354e-05,1793250325365394176
+84,1.400000000,BASELINE,769,745,720,684.247497709,664.752502291,641,885.752502291,787,818,653,631,656,0.40097257453,0.00449941861008,0.0698326167205,0.999999962783,4.84418452177e-05,-0.000267756429126,1.98627020802e-05,1793250325382060800
+85,1.416666667,BASELINE,769,745,720.335728491,684,665,641,885.664271509,787,818,653,631,656,0.400972294905,0.00449974984527,0.0698323099461,0.999999962659,5.00411232845e-05,-0.000267911319401,2.00220649202e-05,1793250325398727424
+86,1.433333333,BASELINE,769,745,720.912911075,684,665,641,885.087088925,787,818,653,631,656,0.400972334155,0.00450073638611,0.0698312136328,0.999999962516,5.30776760516e-05,-0.000267849289356,2.01976453693e-05,1793250325415394048
+87,1.450000000,BASELINE,769,745,721,684.485786604,665,641,884.514213396,787,818,653,631,656,0.400971636929,0.00450106887866,0.0698311608629,0.999999962398,5.24359979251e-05,-0.000268420819998,2.01127495063e-05,1793250325432060672
+88,1.466666667,BASELINE,769,744.939884335,721,684.939884335,665,641,884.060115665,787,818,653,631,656,0.40097106071,0.00450113382724,0.0698313426382,0.999999962331,5.1140984256e-05,-0.000268928907527,2.00043798823e-05,1793250325448727552
+89,1.483333333,BASELINE,769,744.345848062,721,684.345848062,665,641,884.654151938,787,818,653,631,656,0.400972721566,0.00449985481396,0.0698319605785,0.999999962677,4.9848463562e-05,-0.000267873611164,2.00986207174e-05,1793250325465394432
+90,1.500000000,BASELINE,769,744.241608191,720.758391809,684.241608191,665,641,885,787,818,653,631,655.758391809,0.400974047554,0.00449975138968,0.0698328035581,0.99999996304,4.98000539314e-05,-0.000266538814379,1.99120033216e-05,1793250325482061056
+91,1.516666667,BASELINE,769,744.819895198,720.180104802,684.819895198,665,641,885,787,818,653,631,655.180104802,0.400974906907,0.00450128613809,0.0698339601279,0.999999963424,5.14853018561e-05,-0.000264814536385,1.93340125287e-05,1793250325498727424
+92,1.533333333,BASELINE,769,745,720,684.603168124,664.603168124,641,885,786.603168124,818,653,631,655.396831876,0.400973839568,0.00450237689935,0.0698334915847,0.999999962965,5.39057254074e-05,-0.000266043584561,1.9614658155e-05,1793250325515394048
+93,1.550000000,BASELINE,769,745,720,684.026842173,664.026842173,641,885,786.026842173,818,653,631,655.973157827,0.400971900753,0.0045032668375,0.0698322879741,0.999999962114,5.66586820399e-05,-0.000268608474229,2.02836801651e-05,1793250325532060672
+94,1.566666667,BASELINE,769,745,720,684,664,641,885,786.527833595,818,653,630.472166405,656,0.40097143913,0.00450245416155,0.0698314954272,0.99999996218,5.33256118801e-05,-0.0002690694422,1.99541603247e-05,1793250325548727552
+95,1.583333333,BASELINE,769,745.087400039,720,684,664.087400039,641,885.087400039,787,817.912599961,653,630.087400039,655.912599961,0.400971247882,0.00450166216744,0.0698309015761,0.999999962301,5.02833688431e-05,-0.000269226538106,1.96583089972e-05,1793250325565394176
+96,1.600000000,BASELINE,769,745.681448225,720,684,664.681448225,641,885.681448225,787,817.318551775,653,630.681448225,655.318551775,0.400972205661,0.00450147220408,0.0698313431385,0.99999996255,5.06504377401e-05,-0.000268217903917,1.9840393944e-05,1793250325582060800
+97,1.616666667,BASELINE,769,745.724310127,720,684.275689873,665,641,885.724310127,787,817.275689873,653,631,655,0.400972895003,0.00450106838819,0.0698318107685,0.999999962774,5.0975496487e-05,-0.000267310570363,1.99605200179e-05,1793250325598727424
+98,1.633333333,BASELINE,769,745.129844818,720,684.870155182,665,641,885.129844818,787,817.870155182,653,631,655,0.400973273957,0.00450041729831,0.06983230854,0.99999996297,5.12519796011e-05,-0.000266520369046,2.00090041066e-05,1793250325615394048
+99,1.650000000,BASELINE,769.450953309,745,720,684.549046691,665,641,885,787,818,653,631,655.450953309,0.400971774234,0.00450064886837,0.0698318953756,0.999999962618,5.09414637823e-05,-0.000267880300802,2.02281022924e-05,1793250325632060672
+100,1.666666667,BASELINE,770,745,720.027530131,684.027530131,665,641,885.027530131,787,818,653,631,655.972469869,0.400969946321,0.00450105224482,0.0698313006371,0.999999962161,5.04914864704e-05,-0.000269648230786,2.04745969868e-05,1793250325648727296
+101,1.683333333,BASELINE,770,745,720.596208738,684.596208738,665,641,885.596208738,787,818,653,631,655.403791262,0.400971987449,0.00449998402101,0.0698321408286,0.999999962706,5.05247412217e-05,-0.000267624658729,2.03223768565e-05,1793250325665393920
+102,1.700000000,BASELINE,769.826537418,745,720.826537418,685,665,641.173462582,885.826537418,787,817.826537418,653,631,655.173462582,0.400972755903,0.00449951028913,0.0698322662382,0.999999962879,5.07352427807e-05,-0.000266953237234,2.00916697757e-05,1793250325682060800
+103,1.716666667,BASELINE,769.228283835,745,720.228283835,685,665,641.771716165,885.228283835,787,817.228283835,653,631,655.771716165,0.400970407712,0.00450049240351,0.0698306412244,0.999999962146,5.13798024931e-05,-0.000269593085728,1.96687567104e-05,1793250325698727424
+104,1.733333333,BASELINE,769,745,720,685,665,641.642574385,885,786.642574385,817.357425615,653,631,656,0.400970621569,0.00450087428118,0.0698308940051,0.999999962233,5.17675960962e-05,-0.000269189637686,1.97803614384e-05,1793250325715394048
+105,1.750000000,BASELINE,769,745,720,685,665,641.064605032,885,786.064605032,817.935394968,653,631,656,0.400972416294,0.00450088579253,0.0698323054486,0.999999962824,5.19969563561e-05,-0.000266908372632,2.02217817479e-05,1793250325732060672
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,745,720,685,664,641,885,787,818,653,631,656,0.400972745951,0.00450179153689,0.0698321635601,0.999999962615,5.42246140562e-05,-0.000267253270917,2.01507425386e-05,1793250325763990272
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,720,685,664.613914392,641,885,787,818,653,631,656,0.40097097658,0.00450156557698,0.0698309907604,0.999999962016,5.39268315766e-05,-0.000269527886956,2.03669002806e-05,1793250325780657152
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,720,684.785372878,665,641,885,787,818,653,631,656,0.400970327704,0.00450114703636,0.0698305810422,0.999999961806,5.37170621496e-05,-0.000270335078476,2.05220925741e-05,1793250325797323776
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,720,684.207031991,665,641,885,787,818,653,631,656,0.400971577654,0.00450040214248,0.0698314644656,0.999999962261,5.36564423177e-05,-0.000268655527355,2.05739709665e-05,1793250325813990144
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,720,684,664.629395776,641,885,787,817.629395776,653,631,655.629395776,0.400973113132,0.00450039039634,0.0698326785318,0.999999962863,5.31099531719e-05,-0.000266523869095,2.04554528281e-05,1793250325830657024
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,720,684,664.0521525,641,885,787,817.0521525,653,631,655.0521525,0.400974807813,0.0045007874339,0.0698340769557,0.999999963543,5.2292556233e-05,-0.000264140128029,2.02419261165e-05,1793250325847323648
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,720,684,664,641,885.523914179,787,817.523914179,653,631,655.523914179,0.400973007428,0.0045005979615,0.0698325388788,0.999999962909,5.21108846254e-05,-0.000266563270677,2.02756855744e-05,1793250325863990272
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,720,684,664.101808289,641,885.898191711,787,818,653,631,655.898191711,0.400971054405,0.00450037172433,0.0698310040721,0.999999962247,5.18860721793e-05,-0.00026907403436,2.03278475102e-05,1793250325880656896
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,720,684,664.688971482,641,885.311028518,787,818,653,631,655.311028518,0.400970028608,0.00450024792757,0.0698308752793,0.999999962108,5.11545787197e-05,-0.000269726473406,2.03506511396e-05,1793250325897323776
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.273868014,745,720,684,665,641,885,787,818,653,631,655.273868014,0.400971853719,0.00450034791287,0.0698318756217,0.999999962343,5.0827536529e-05,-0.000268914765421,2.03675330022e-05,1793250325913990400
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.856211416,745,720,684,665,641,885,787,818,653,631,655.856211416,0.400976889992,0.0045006999585,0.0698341477827,0.999999962995,5.0956054205e-05,-0.000266453893188,2.03777447913e-05,1793250325930657024
+117,1.950000000,POSE1_TO_POSE2_PRESS,769.568536654,745,720.431463346,684.431463346,664.568536654,641,885,787,818,653,631,656,0.400994992372,0.00450105154886,0.0698427748251,0.999999966526,5.16948789961e-05,-0.000252707664307,2.03608361825e-05,1793250325947324160
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,720.99549404,685,664.00450596,641,885,787,818,653,631,656,0.401017602339,0.00450139537812,0.0698535325454,0.999999970759,5.26201181851e-05,-0.000235160954561,2.03325956092e-05,1793250325963991808
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,720.407466556,685,664.592533444,641,885,787,818,653,631,656,0.401069170054,0.00450075347158,0.0698703907049,0.999999977526,5.17729536622e-05,-0.000204617710944,1.99883731508e-05,1793250325980657920
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.177502337,745,720,685,665,641,885,787,818,653,631,656.177502337,0.401122836058,0.00449989350776,0.0698850661205,0.999999982074,5.03159268859e-05,-0.000181476323685,1.96664225523e-05,1793250325997324288
+121,2.016666667,POSE1_TO_POSE2_PRESS,769.755569115,745,720,685,665,641,885,787,818,653,631,656.755569115,0.401181237221,0.00449854146021,0.0698948158036,0.999999983365,4.7482641356e-05,-0.00017503848804,1.93947321896e-05,1793250326013991424
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.66581644,745,720.33418356,684.66581644,664.66581644,641,885,787.33418356,818,653,631,656.66581644,0.401250745767,0.00449952061211,0.0699006226371,0.999999984741,4.71308787177e-05,-0.000167240895567,1.80968118975e-05,1793250326030658048
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.086800795,745,720.913199205,684.086800795,664.086800795,641,885,787.913199205,818,653,631,656.086800795,0.401328391884,0.00450220766504,0.0699035408297,0.999999986138,4.85971483031e-05,-0.000158447108151,1.60470472939e-05,1793250326047324672
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,720.512770132,684,664.487229868,641,885,787.512770132,818,653,631,656,0.401421380076,0.00450247960813,0.0699038859877,0.999999986245,4.74526905705e-05,-0.000158283984617,1.42670774902e-05,1793250326063991040
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,720.062391635,684.062391635,665,641,885.062391635,787,818,653,631,656,0.401519508806,0.00450245627805,0.0699036043971,0.999999986113,4.56283098109e-05,-0.000159805008062,1.23931167835e-05,1793250326080657408
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,720.654624337,684.654624337,665,641,885.654624337,787,818,653,631,656,0.401638316033,0.00450354224006,0.0699018536533,0.999999985841,4.19396563531e-05,-0.000162703056533,9.31693061573e-06,1793250326097323776
+127,2.116666667,POSE1_TO_POSE2_PRESS,769.241360317,745,721,684.758639683,664.758639683,641,885.758639683,787,818,653,631,655.758639683,0.401771938565,0.00450430252758,0.0699018979793,0.999999986014,3.80969969265e-05,-0.00016273378527,6.18060143241e-06,1793250326113990400
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.82040583,745,721,684.17959417,664.17959417,641,885.17959417,787,818,653,631,655.17959417,0.401926289057,0.00450460716656,0.0699044537725,0.999999986815,3.40388693498e-05,-0.000158752870764,2.96012691841e-06,1793250326130657536
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.602691793,745,720.602691793,684.397308207,664.397308207,641,885,787,818,653,631,655.397308207,0.402102710643,0.00450661447428,0.0699084527459,0.999999988004,3.16992385714e-05,-0.000151616279891,-7.52318215859e-07,1793250326147323904
+130,2.166666667,POSE1_TO_POSE2_PRESS,769.026752924,745,720.026752924,684.973247076,664.973247076,641,885,787,818,653,631,655.973247076,0.402289055458,0.00450938730572,0.0699131005768,0.999999989302,3.01322474566e-05,-0.000143060889483,-4.68595472556e-06,1793250326163990528
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,720.544381032,685,665,641.544381032,885,787.544381032,818,653.544381032,631,656,0.402507115678,0.00450838363024,0.0699169141991,0.999999990409,2.35042196228e-05,-0.000136179527352,-9.21402434064e-06,1793250326180657664
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,721,684.880151595,665,642,885.119848405,787.880151595,818,653.880151595,631,656,0.40273567101,0.00450788415435,0.0699205691324,0.999999991409,1.67020798515e-05,-0.000129254305433,-1.39890309221e-05,1793250326197324544
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721,684.286632214,665,642,885.713367786,787.286632214,818,653.286632214,631,656,0.402999599584,0.00451010448886,0.0699237574981,0.999999992334,1.01862007765e-05,-0.000121833437501,-1.96255500643e-05,1793250326213990912
+134,2.233333333,POSE1_TO_POSE2_PRESS,769.299147617,745,721,684.598295234,665,641.700852383,885.700852383,787,818,653,631.299147617,656,0.403285979913,0.00451233786872,0.0699304239104,0.999999993716,5.23613412262e-06,-0.000109131676964,-2.50980228745e-05,1793250326230657280
+135,2.250000000,POSE1_TO_POSE2_PRESS,769.877698685,745,721,685.75539737,665,641.122301315,885.122301315,787,818,653,631.877698685,656,0.403593330134,0.00451458343277,0.0699403388132,0.99999999535,1.74853444083e-06,-9.14975706443e-05,-3.04172763008e-05,1793250326247323904
+136,2.266666667,POSE1_TO_POSE2_PRESS,769.547819969,745,721,685.547819969,665,641,885.452180031,787,818,653,631.547819969,656,0.403920289356,0.00451655479429,0.0699459015237,0.999999995981,-3.18357731033e-06,-8.22914420193e-05,-3.54427236933e-05,1793250326263990528
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745.025734009,721,685.025734009,665,641,886,787,818,653,631.025734009,656,0.404254743303,0.00451819271546,0.0699503211234,0.999999996308,-8.25013832166e-06,-7.54628092886e-05,-4.02740043956e-05,1793250326280657152
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745.602792072,721,685.602792072,665,641,886,787,818,653,631.602792072,656,0.404637152285,0.00451426173477,0.0699552447967,0.999999996528,-7.9015089891e-06,-7.11688535045e-05,-4.26327555451e-05,1793250326297324288
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.183759278,745.816240722,721,685.816240722,665,641,886,787,818,653,631.816240722,656,0.405031773012,0.00450620459051,0.0699589409033,0.999999996987,2.94483608165e-06,-6.682085339e-05,-3.93899544108e-05,1793250326313991168
+140,2.333333333,POSE1_TO_POSE2_PRESS,769.773359939,745.226640061,721,685.226640061,665,641,886,787,818,653,631.226640061,656,0.405453363927,0.00448903461201,0.0699599258682,0.99999999709,3.69759015107e-05,-6.23534942275e-05,-2.3775849802e-05,1793250326330657792
+141,2.350000000,POSE1_TO_POSE2_PRESS,769.643850996,745.356149004,721,685.356149004,665,641.356149004,886,787,818,653,631,656,0.405893087547,0.00448550936745,0.0699584983159,0.999999996392,5.23687886186e-05,-6.34300378533e-05,-2.11988597602e-05,1793250326347324416
+142,2.366666667,POSE1_TO_POSE2_PRESS,769.065315177,745.934684823,721,685.934684823,665,641.934684823,886,787,818,653,631,656,0.406344133644,0.00449050417573,0.069955564338,0.999999995757,5.61236144296e-05,-6.79683088225e-05,-2.6762512611e-05,1793250326363991040
+143,2.383333333,POSE1_TO_POSE2_PRESS,769.51137897,745.48862103,721,686,665.51137897,642,886,787.51137897,818,653,631,656,0.406818824503,0.00450161997764,0.0699401969221,0.999999992469,7.6909698621e-05,-9.14503456481e-05,-2.79984646957e-05,1793250326380657664
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,745.089366723,721,686,665.910633277,642,886.089366723,787.910633277,818,653,631.089366723,656,0.407309847893,0.00451196365682,0.0699258026232,0.999999989911,8.19448087949e-05,-0.000112327563614,-2.90646939065e-05,1793250326397324288
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,745.675854454,721,686,665.324145546,642,886.675854454,787.324145546,818,653,631.675854454,656,0.407874985508,0.00451367895271,0.0699256236078,0.999999993855,-1.26952495258e-05,-0.000105303900202,-3.22505558075e-05,1793250326413990912
+146,2.433333333,POSE1_TO_POSE2_PRESS,769.739770419,746,721,686.260229581,665.260229581,642,887,787,818,653,631.739770419,656,0.408467850551,0.00451940179355,0.0699335489214,0.999999994526,-4.95465763575e-05,-8.51421632216e-05,-3.52744744157e-05,1793250326430657792
+147,2.450000000,POSE1_TO_POSE2_PRESS,769.158005626,746,721,686.841994374,665.841994374,642,887,787,818,653,631.158005626,656,0.409094975094,0.00453007628816,0.0699514878052,0.999999997974,-1.49951308843e-05,-4.87472487368e-05,-3.80982986941e-05,1793250326447325184
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,746,721,687,665.581718462,641.581718462,887,787,818,653,631,656,0.409710954745,0.00453618223931,0.0699526699269,0.999999998247,1.29047835464e-05,-4.22967718451e-05,-3.93685730694e-05,1793250326463991552
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,746,721,687,665.007473738,641.007473738,887,787,818,653,631,656,0.410322778825,0.00454058473326,0.0699476040123,0.999999997358,3.83245638679e-05,-4.70115744374e-05,-4.00595806135e-05,1793250326480658176
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,721,687,665.568982217,641,886.431017783,787,818,653,631,656,0.410974700972,0.00454947237509,0.0699437604866,0.999999995726,5.95152748666e-05,-5.80779761478e-05,-4.04146714446e-05,1793250326497324544
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,746,721,687.148782984,666,641.148782984,886.148782984,787,818,653,631,656,0.411652231175,0.00455836619715,0.0699467178726,0.999999994805,7.46916653644e-05,-5.58284160505e-05,-4.11557634272e-05,1793250326513991168
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,721,687.738407883,666,641.738407883,886.738407883,787,818,653,631,656,0.412404070885,0.00456710308814,0.0699697785057,0.99999999637,7.22129399628e-05,-1.38756777439e-05,-4.30536961731e-05,1793250326530658048
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,721,688,666.321687784,642,887,787.321687784,818,652.678312216,630.678312216,656,0.4131649201,0.00457357968653,0.0699946218618,0.99999999593,7.54220416444e-05,2.32938290612e-05,-4.36922594954e-05,1793250326547324672
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,721,688,666.899907883,642,887,787.899907883,818,652.100092117,630.100092117,656,0.413932954092,0.00457825379875,0.0700208868661,0.999999993998,8.31669430426e-05,5.66489168624e-05,-4.33265295208e-05,1793250326563991040
+155,2.583333333,POSE1_TO_POSE2_PRESS,769.474904034,746,721,688.474904034,666.525095966,642,887,788,818.474904034,652.474904034,630.474904034,656,0.414666452956,0.00458595604005,0.0700015530658,0.999999993716,0.000101711681244,1.79789909742e-05,-4.35741382051e-05,1793250326580657408
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,746,721,688.949522636,666,642,887.050477364,788,819,653.050477364,631,656,0.415395194191,0.00459431484506,0.0699712387643,0.999999991154,0.00011981768087,-3.71481886207e-05,-4.42281494329e-05,1793250326597324032
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,746,721,688.360592663,666,642,887.639407337,788,819,653.639407337,631,656,0.416150305419,0.00460291526897,0.069925619444,0.999999987178,0.000109126556629,-0.000106989924214,-4.78477017247e-05,1793250326613990912
+158,2.633333333,POSE1_TO_POSE2_PRESS,769.775483481,746,721,688.449033037,666.224516519,642,888,787.775483481,819,653.775483481,631,656,0.416958987006,0.00460947048287,0.0699069919433,0.999999983591,0.000109525246233,-0.000135401262758,-4.98792642173e-05,1793250326630657792
+159,2.650000000,POSE1_TO_POSE2_PRESS,769.196408167,746,721,689.607183666,666.803591833,642,888,787.196408167,819,653.196408167,631,656,0.41785226741,0.00461279587956,0.0699309902044,0.99999998582,0.000127437085128,-9.83852885245e-05,-4.94030569175e-05,1793250326647324416
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,721,690,666.617412057,642,888,787.382587943,819,653,631,656,0.418739854913,0.00461987563357,0.0699585538254,0.999999987252,0.000140400502129,-5.78216098905e-05,-4.93976583572e-05,1793250326663991040
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,721,690,666.038456616,642,888,787.961543384,819,653,631,656,0.419624520445,0.00462888235292,0.0699879474062,0.999999987275,0.000150824086121,-1.54370337937e-05,-4.96339075592e-05,1793250326680657664
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721,690,666,642,888,787.464427053,819,653.535572947,631,656,0.420535913243,0.00462817944952,0.070010590311,0.999999988372,0.000142223143088,2.1499325195e-05,-5.06524109739e-05,1793250326697324032
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721,690,666,642,888.112419978,787,819,653.887580022,631,656.112419978,0.421441581812,0.00462189284157,0.0700269919734,0.999999989037,0.000130293128882,4.80141788479e-05,-5.14150120034e-05,1793250326713990400
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721,690,666,642,888.702733688,787,819,653.297266312,631,656.702733688,0.42231483276,0.00459480683136,0.0700189040998,0.999999992153,0.00010996545116,3.18753900983e-05,-5.08531815752e-05,1793250326730657280
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,690.287652799,665.712347201,642,888.712347201,787,819,653,631,656.712347201,0.423166861256,0.004577713979,0.0699693986739,0.999999993984,8.44404457375e-05,-4.72360998989e-05,-5.16829590548e-05,1793250326747324160
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,690.867099715,665.132900285,642,888.132900285,787,819,653,631,656.132900285,0.423997361869,0.00457075815205,0.069877879409,0.999999979014,5.36432831606e-05,-0.000190226906729,-5.39243784697e-05,1793250326763990784
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,720.557842772,691,665.442157228,642,888,787.442157228,819,653,631,656,0.424914745247,0.00457699018254,0.0698606903403,0.999999974995,6.02463023731e-05,-0.000208003458655,-5.580864566e-05,1793250326780657408
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,720.016306687,691,666.032613373,641.983693313,888.016306687,787.983693313,819.016306687,653.016306687,631,656,0.425858473472,0.00458692484494,0.069867284495,0.999999977915,7.80456475726e-05,-0.000186493886625,-5.74353912223e-05,1793250326797324032
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,720.604424618,691,667.208849236,641.395575382,888.604424618,787.395575382,819.604424618,653.604424618,631,656,0.426819280096,0.00458906396084,0.069932131245,0.999999989308,9.81369879464e-05,-9.41467184167e-05,-5.37592087982e-05,1793250326813990656
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,721,691,667.810896062,641.189103938,889,787,820,653.810896062,631,656.189103938,0.427790517644,0.00459292348762,0.0699891061521,0.99999999256,0.000109695555717,-1.24752591546e-05,-5.1876659253e-05,1793250326830657024
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746,721,691,667.233281346,641.766718654,889,787,820,653.233281346,631,656.766718654,0.428783185284,0.00460031756875,0.0700299084894,0.999999992063,0.000103723689411,4.72631333737e-05,-5.36790984398e-05,1793250326847323904
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,721,691,666.655106851,642,889,787,820.344893149,653,631.344893149,656.655106851,0.429758502378,0.0046032612221,0.0700450302479,0.999999990722,0.000101236751159,7.24386451552e-05,-5.53162625015e-05,1793250326863990528
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,721,691,666.076553138,642,889,787,820.923446862,653,631.923446862,656.076553138,0.430722064664,0.00460318976897,0.0700427537508,0.99999999052,0.000101110806169,7.41982582649e-05,-5.68414548629e-05,1793250326880657152
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,888.501918827,787,820.501918827,653,631.501918827,656,0.431541237877,0.00460151055902,0.0699668634389,0.999999991327,0.000104345537464,-5.73682010548e-05,-5.62829603784e-05,1793250326897323776
+175,2.916666667,POSE1_TO_POSE2_PRESS,769.074015333,746.074015333,721,691.074015333,666,642,888.074015333,787,820,653,631,656.074015333,0.432352454581,0.00459880947699,0.0698905149638,0.999999974972,0.000106165453065,-0.0001888694916,-5.57955542079e-05,1793250326913990400
+176,2.933333333,POSE1_TO_POSE2_PRESS,769.663155544,746.663155544,721,691.663155544,666,642,888.663155544,787,820,653,631,656.663155544,0.43326154011,0.00459070282507,0.0698891062514,0.999999977929,9.4571901885e-05,-0.00017841447101,-5.80143851631e-05,1793250326930657024
+177,2.950000000,POSE1_TO_POSE2_PRESS,769.750961425,747,721,692,666.498077151,642,888.750961425,787,820.249038575,653,631,656.750961425,0.4342037629,0.00458367210561,0.0699176061044,0.999999986959,8.43560387339e-05,-0.000124530392071,-5.88024296035e-05,1793250326947323392
+178,2.966666667,POSE1_TO_POSE2_PRESS,769.16942703,747,721,692,667.66114594,642,888.16942703,787,820.83057297,653,631,656.16942703,0.435190227963,0.00457807788151,0.0699860374136,0.99999999537,7.5979548925e-05,-1.26634042086e-05,-5.76802053848e-05,1793250326963990272
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746.592865238,720.592865238,692,667.185730476,642,888.407134762,787,821,653,631,656,0.436140130527,0.00457741322567,0.0700189780103,0.999999994514,7.72442729552e-05,4.16862925835e-05,-5.71639980678e-05,1793250326980656896
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746.018347834,720.018347834,692,666.036695669,642,888.981652166,787,821,653,631,656,0.437075001331,0.00457877523121,0.0700373275393,0.99999999236,8.24727266163e-05,7.23892764752e-05,-5.68969387123e-05,1793250326997323520
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,720.555400979,692.555400979,666,641.444599021,889,787,821,653,631,656,0.437917799368,0.00457984757251,0.0700102571631,0.999999994004,7.85166913037e-05,4.74575582735e-05,-5.97921309175e-05,1793250327013990144
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,721,693,666,641.133242009,889,787,821,653,631,656,0.438730016358,0.00458208740524,0.0699714159697,0.999999995232,7.5521513889e-05,-1.55152592442e-06,-6.18934413971e-05,1793250327030656768
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,721,693,666,641.725260556,889,787,821,653,631,656,0.439447395666,0.00458838002662,0.0698972049245,0.999999987108,7.68780053032e-05,-0.000127143862301,-6.09020735518e-05,1793250327047323392
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746.310021553,720.689978447,693.310021553,665.689978447,641.689978447,889,787.310021553,821,653,631,656,0.44019888424,0.00459564813801,0.0698471570268,0.99999997221,8.9465876206e-05,-0.00020954746981,-6.05425532437e-05,1793250327063990272
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+240,4.000000000,POSE1_TO_POSE2_PRESS,769.20679851,746,720.20679851,694.20679851,654.20679851,637,890,786,823,654,631,656.20679851,0.455163124692,0.00475628259058,0.0695357199281,0.999999691532,0.000289322474652,-0.000727351811759,-6.47201052685e-05,1793250327997323776
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.377080549,746.377080549,720,694.377080549,654.377080549,637,890,786,823.377080549,654,631.377080549,656.377080549,0.455163271896,0.00475646139912,0.0695355158321,0.999999691716,0.000287842857187,-0.00072766968285,-6.4895702225e-05,1793250328013990400
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.954588442,746.954588442,720,694.954588442,654.954588442,637,890,786,823.954588442,654,631.954588442,656.954588442,0.455163409847,0.00475616944655,0.0695352539503,0.999999692343,0.000284596652585,-0.000728039877549,-6.53895887633e-05,1793250328030657024
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.472821845,746.472821845,720.527178155,694.472821845,654.472821845,637,890,786,823.472821845,654,631.472821845,656.472821845,0.455163308719,0.00475472887723,0.0695346789025,0.999999691457,0.000284575720427,-0.000729313340969,-6.48378204335e-05,1793250328047323648
+244,4.066666667,POSE1_TO_POSE2_PRESS,769.102721774,746,720.897278226,694,654,637,890,786,823.102721774,653.897278226,631,656.102721774,0.455163180734,0.00475374606118,0.0695341149957,0.999999690412,0.000285353594726,-0.000730490102095,-6.4292711179e-05,1793250328063990016
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.694321206,746,720.305678794,694,654,637,890,786,823.694321206,653.305678794,631,656.694321206,0.455163022038,0.00475540834372,0.0695337313126,0.999999689224,0.000288623154312,-0.000730839747598,-6.42040137491e-05,1793250328080657152
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.719849369,746,720.280150631,694.280150631,654,637,890,785.719849369,824,653.280150631,631,657,0.455163722845,0.00475630838853,0.0695344008488,0.999999689778,0.000289162368123,-0.000729848622835,-6.44267741926e-05,1793250328097324032
+247,4.116666667,POSE1_TO_POSE2_PRESS,769.14018861,746,720.85981139,694.85981139,654,637,890,785.14018861,824,653.85981139,631,657,0.455165342552,0.00475639352225,0.0695361963859,0.999999692194,0.000286782559057,-0.000727424075407,-6.49825154486e-05,1793250328113990656
+248,4.133333333,HOLD_POSE2,769,746,720,694,654,637,889,786,823,654,631,657,0.455164465561,0.00475439184124,0.069533656176,0.999999691063,0.000285078710571,-0.000729673946738,-6.46597105933e-05,1793250328147088896
+249,4.150000000,HOLD_POSE2,769.590774552,746,720.590774552,694.590774552,654,637,889.590774552,786,823.590774552,654,631.590774552,657,0.455165136025,0.00475481350974,0.0695336555719,0.999999690548,0.000286558222334,-0.000729832178509,-6.42971476906e-05,1793250328163755520
+250,4.166666667,HOLD_POSE2,769.822539138,746,720.822539138,695,654,637,890,786,823.822539138,654,631.822539138,656.822539138,0.455165371192,0.00475530078251,0.0695336772477,0.999999690292,0.000287611435168,-0.000729783898527,-6.41211723666e-05,1793250328180422144
+251,4.183333333,HOLD_POSE2,769.245067922,746,720.245067922,695,654,637,890,786,823.245067922,654,631.245067922,656.245067922,0.455164625164,0.00475593593238,0.069533749144,0.999999690624,0.000287703737907,-0.000729270125293,-6.43657796416e-05,1793250328197088768
+252,4.200000000,HOLD_POSE2,769,746,720,694.666091906,654,637,890,786,823,654,631,656,0.455165308984,0.0047568279942,0.0695341754663,0.999999690632,0.000289054454286,-0.0007287224164,-6.44040667214e-05,1793250328213755648
+253,4.216666667,HOLD_POSE2,769,746,720,694.086006495,654,637,890,786,823,654,631,656,0.455167046975,0.00475790946706,0.0695348630929,0.999999690395,0.000291332949593,-0.000728149688106,-6.42902420124e-05,1793250328230422528
+254,4.233333333,HOLD_POSE2,769.486943852,746.486943852,720,694,654,637,890,786,823.486943852,654,631,656,0.455165435733,0.00475726179225,0.0695340242857,0.999999689033,0.000290683563165,-0.000730294293257,-6.40808336935e-05,1793250328247088896
+255,4.250000000,HOLD_POSE2,770,746.939416495,720,694.060583505,654,636.939416495,890,785.939416495,823.939416495,654,631,656,0.455163729249,0.00475649616801,0.0695331611886,0.999999687863,0.000289630903126,-0.000732326466275,-6.39170368407e-05,1793250328263755520
+256,4.266666667,HOLD_POSE2,770,746.348882553,720,694.651117447,654,636.348882553,890,785.348882553,823.348882553,654,631,656,0.455166289528,0.00475733177025,0.069534409927,0.999999690132,0.000289508932527,-0.000729237449065,-6.42977690837e-05,1793250328280421888
+257,4.283333333,HOLD_POSE2,770,746,720,694.761869432,654,636,890,785.238130568,823,654,631,656,0.455166987292,0.0047571025176,0.069534731035,0.999999690714,0.000289259820361,-0.000728540817725,-6.42563315139e-05,1793250328297088256
+258,4.300000000,HOLD_POSE2,770,746,720,694.179939522,654,636,890,785.820060478,823,654,631,656,0.455164996063,0.00475533588808,0.0695337128829,0.999999688868,0.000288827148461,-0.000731298177027,-6.36053891958e-05,1793250328313754880
+259,4.316666667,HOLD_POSE2,770,746.395996116,720,694,654,636,890,786,823,654,631,656,0.455165042368,0.00475551228288,0.0695332945641,0.999999688308,0.000289414295906,-0.000731819135383,-6.37434563496e-05,1793250328330421504
+260,4.333333333,HOLD_POSE2,770,746.969248637,720,694,654,636,890,786,823,654,631,656,0.455166000717,0.00475655841713,0.0695331447436,0.999999688326,0.000290457936456,-0.000731339032657,-6.42347011116e-05,1793250328347088128
+261,4.350000000,HOLD_POSE2,770,746.456343083,720.543656917,694,654,636.543656917,890,786,823.543656917,654,631,656.543656917,0.455166718628,0.0047560486951,0.069533796736,0.999999688898,0.000290216767554,-0.000730643404269,-6.43229004683e-05,1793250328363755264
+262,4.366666667,HOLD_POSE2,770,746.121835466,721,694,654,637,890,785.878164534,823.878164534,654,631,657,0.455167227846,0.00475569913691,0.0695343232599,0.999999689354,0.000290026781013,-0.000730101950994,-6.42452343544e-05,1793250328380422144
+263,4.383333333,HOLD_POSE2,770,746.714325794,721,694,654,637,890,785.285674206,823.285674206,654,631,657,0.455166983521,0.0047563089894,0.0695341895188,0.999999689236,0.000290315853554,-0.000730203276128,-6.36150803383e-05,1793250328397088768
+264,4.400000000,POSE2_TO_POSE3_RETREAT,770,746,721,694,653,637,889,787,823,654,631,656,0.455167390495,0.00475448935799,0.0695337213025,0.999999690198,0.000287400908771,-0.000730045235761,-6.35455941225e-05,1793250328434224128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,746,721,694,654.159155501,637,889.579577751,786.420422249,823,654,631,656,0.455166862426,0.00475604644914,0.0695336782299,0.999999689378,0.000288683762105,-0.000730636769048,-6.38335695162e-05,1793250328450890752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,746.161517795,720.838482205,694.161517795,654.676964411,636.838482205,890,786,823,654,631.161517795,656.161517795,0.455167130663,0.00475658317322,0.0695338737191,0.999999689411,0.000288698032526,-0.000730573255258,-6.39821388273e-05,1793250328467557632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,746.749698158,720.250301842,694.749698158,653.500603685,636.250301842,890,786,823,654,631.749698158,656.749698158,0.455169502409,0.00475442451394,0.0695346993888,0.999999691692,0.00028536123689,-0.00072877938075,-6.37624555428e-05,1793250328484224000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.667630886,747,720,694.667630886,653,636.332369114,890,786,823.332369114,654,631.667630886,656.667630886,0.455169811845,0.00475374664562,0.0695349056347,0.999999691807,0.000285631505028,-0.000728540483385,-6.34738195892e-05,1793250328500890624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.089041356,747,720,694.089041356,653,636.910958644,890,786,823.910958644,654,631.089041356,656.089041356,0.455168593513,0.0047541657535,0.0695346530088,0.999999690318,0.000288573901145,-0.000729453519632,-6.31341032259e-05,1793250328517556992
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.488095326,747,720.488095326,694,653,637,890,786,823.511904674,654,631,656,0.455167764773,0.00475510302136,0.0695343813218,0.999999689811,0.000289353169509,-0.000729842949754,-6.31023774986e-05,1793250328534223872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,747,720.935428353,694.064571647,653,637,890,786,823.064571647,654,631,656.064571647,0.455167319874,0.00475592256667,0.0695342118983,0.999999689736,0.000289561464876,-0.000729858850525,-6.31593572809e-05,1793250328550890752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,747,720.362073121,694.637926879,653,637,890,786,823.637926879,654,631,656.637926879,0.455169341059,0.00475507193924,0.0695348755631,0.999999691646,0.000288370912894,-0.000727681976222,-6.34738875363e-05,1793250328567557632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.211109836,746.788890164,720.211109836,695,653,637,890,786,823.788890164,654,631,656.788890164,0.455168588947,0.00475448814615,0.0695341958753,0.999999691777,0.000287246158079,-0.000727925215375,-6.37176309159e-05,1793250328584224256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.783997508,746.216002492,720.783997508,695,653,637,890,786,823.216002492,654,631,656.216002492,0.455163084252,0.00475436162579,0.0695312140913,0.999999688854,0.000286234159653,-0.000732315790674,-6.38400671595e-05,1793250328600890624
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.253259435,746,721,694.626629717,653,637,890,786,823.373370283,654.373370283,631,656.373370283,0.455147676132,0.00475426630465,0.0695241874425,0.999999680361,0.000286870968329,-0.000743595498544,-6.36214254869e-05,1793250328617557248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.054558764,746,721,694.027279382,653,637,890,786,823.972720618,654.972720618,631,656.972720618,0.455126274026,0.00475418986662,0.0695147126639,0.999999668311,0.00028850570715,-0.000759044811551,-6.31963485163e-05,1793250328634223872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746.545040777,720.454959223,694.545040777,653.545040777,636.454959223,890,786,823.454959223,654.454959223,631,656.454959223,0.455077992321,0.00475582360549,0.0694962153225,0.999999643918,0.000289552257179,-0.000790145085988,-6.31979358868e-05,1793250328650890496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.117607222,747,720.117607222,695,654,636,890,786,823,654,631,656,0.455025690073,0.00475724258478,0.0694781478911,0.999999620849,0.000290601432372,-0.000818441248176,-6.32918862128e-05,1793250328667557376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.696191364,747,720.696191364,695,654,636,890,786,823,654,631,656,0.454962652801,0.00475750013908,0.0694634519391,0.999999608613,0.000291770836182,-0.0008328210341,-6.36681181307e-05,1793250328684223744
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,747,720.718836422,694.718836422,653.718836422,636.281163578,890,786.281163578,823.281163578,654,631,656,0.454894605324,0.00475701498006,0.0694534514348,0.999999598931,0.00029226799421,-0.00084423846411,-6.30780538863e-05,1793250328700890368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,747,720.126801198,694.126801198,653.126801198,636.873198802,890,786.873198802,823.873198802,654,631,656,0.454821018264,0.00475570863173,0.0694486425055,0.999999592199,0.000292021876158,-0.0008523805315,-6.14195934969e-05,1793250328717556992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,746.546537638,720,694.453462362,653,637,890,786.546537638,823.546537638,654,631.453462362,656,0.454737612722,0.00475582523097,0.0694501759411,0.999999595072,0.000294512748979,-0.000848247021164,-5.99567601404e-05,1793250328734223616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,746,720.030390519,694.969609481,653.030390519,637,890,786,823,654,631.969609481,656,0.454650082048,0.0047562937573,0.0694534313212,0.999999600365,0.000297696260719,-0.000840964925827,-5.85286295745e-05,1793250328750890496
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,746,720.605044485,694.394955515,653.605044485,637,890,786,823,654,631.394955515,656,0.454536599999,0.00475611930884,0.0694565668982,0.999999602948,0.000299924548694,-0.000837213901861,-5.67671039921e-05,1793250328767557120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,746,721,694,654,637,889.815862208,786,823,654,631.184137792,656.184137792,0.454415149547,0.00475578023628,0.0694598829648,0.999999606254,0.000302812990848,-0.000832344915829,-5.47469705906e-05,1793250328784224000
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,746,721,694,654,637,889.227011845,786,823,654,631.772988155,656.772988155,0.454276185524,0.00475507933989,0.0694635957253,0.99999961114,0.000307152371662,-0.000825018785026,-5.21584487452e-05,1793250328800890624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,746,721,694.355378025,654.355378025,637,889.355378025,786,823,654,632,657,0.454117324998,0.00475421109299,0.0694663767409,0.999999615114,0.000310028765219,-0.000819282814699,-4.92890158823e-05,1793250328817557248
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,746,721,694.933714737,654.933714737,637,889.933714737,786,823,654,632,657,0.453945981699,0.0047532378529,0.0694685731947,0.999999618521,0.000311987303576,-0.000814544485799,-4.62433435301e-05,1793250328834223872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,746,721,694.487836195,654.487836195,637,890,786,823,654,631.487836195,657,0.453749241853,0.00475329859938,0.0694753997726,0.999999624599,0.000315873094262,-0.000805731776119,-4.26952330848e-05,1793250328850890752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,746,720.90992285,694,654,637,890,786,823,654,631,657,0.453542490092,0.00475316090321,0.0694821928286,0.999999630051,0.000320144487036,-0.000797426513219,-3.89463197404e-05,1793250328867557632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,746,720.334971313,694,654,637,890,786,823,654,631,657,0.453299542043,0.00475123451612,0.0694855791001,0.999999630778,0.000325148591005,-0.000794691864634,-3.44666141506e-05,1793250328884224000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.754143587,746,720.245856413,694,654.245856413,637,890,786,822.754143587,654,631,656.754143587,0.45303668954,0.00475035530933,0.0694866182866,0.999999630094,0.000331078901707,-0.000793286700091,-2.99229816234e-05,1793250328900890624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769.165113742,746,720.834886258,694,654.834886258,637,890,786,822.165113742,654,631,656.165113742,0.452746053844,0.00475093778692,0.0694843813444,0.999999627447,0.000338302038024,-0.000793737267659,-2.52901183137e-05,1793250328917557248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746,721,694.416569902,655,637,890,786,822,654,631,656,0.452428213379,0.00475034254864,0.0694815862877,0.999999622732,0.000344664361437,-0.000797083191195,-2.00012609178e-05,1793250328934223872
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.571763806,746,721,694.428236194,655.571763806,637,889.428236194,786,822,654,631,656.571763806,0.451731606342,0.00474845335308,0.0694748883387,0.999999611299,0.000356051558634,-0.000806559256345,-9.59725014659e-06,1793250328967557632
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,769.947387484,746.947387484,720,694,657.052612516,638,889.947387484,786,820.947387484,653,631,656,0.449160665403,0.00472732917069,0.0695619060783,0.999999689844,0.000356415479747,-0.000702032583534,2.07386662292e-05,1793250329067557632
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,769.319642016,746.680357984,720.319642016,693.319642016,661.360715967,639,889,786.680357984,820,653.319642016,631,656,0.444368123333,0.00463667708621,0.0696367591885,0.999999832367,0.0001385046941,-0.000561978021459,1.61953255933e-05,1793250329200890880
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,746,720,692,664,640.917291183,889,787,819.082708817,653,630.082708817,656,0.437292459771,0.00458457056534,0.0697028577534,0.99999988088,0.000196438317673,-0.000446146838919,2.45927724706e-05,1793250329350890752
+320,5.333333333,POSE2_TO_POSE3_RETREAT,769.499659453,746,720.499659453,692,664.499659453,641.499659453,889,787.499659453,819.499659453,653.499659453,630.499659453,656,0.436429224236,0.00457855237803,0.0697210036818,0.999999898792,0.000166150252536,-0.000417291667367,2.60375939139e-05,1793250329367557632
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,746,721,692,664,641,888.017905667,787.982094333,819,653.982094333,631,656,0.431065314877,0.00455032020907,0.0698253542265,0.999999956807,0.000110477285794,-0.000270343882062,3.30837465562e-05,1793250329467557632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,769,746,720.442354424,691.442354424,664.557645576,641,888,788,819,653.442354424,631,656,0.430052607096,0.00454592623536,0.0697530795301,0.999999917273,0.000116637933493,-0.000388322773131,3.24713737001e-05,1793250329484224256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,746,720.132035245,691,665,641,888,788,819,653,631,656,0.429069164345,0.00454015396076,0.0697039866842,0.999999883091,0.000116993980929,-0.000468091997591,3.19461957474e-05,1793250329500890624
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,721,689.474967003,664.525032997,641,887,788,819,653,631,656,0.419149503277,0.00445701985046,0.0698113786768,0.999999951851,7.74969009182e-06,-0.000308173553422,3.55816178317e-05,1793250329684224256
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745.06723584,721,687,663.93276416,641,887,787,819,653,631,655.93276416,0.409371042657,0.004456636932,0.0698167993619,0.999999954752,1.70621055267e-05,-0.000298463165756,3.35360816255e-05,1793250329900891392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745.641671345,721,687,663.358328655,641,887,787,819,653,631,655.358328655,0.408729329072,0.00446256213379,0.0697824834241,0.999999936961,1.54098725908e-05,-0.000353285147157,3.20928129722e-05,1793250329917557760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769.22143046,745.77856954,721,687,663.22143046,641,886.77856954,787,818.77856954,653,631,655.22143046,0.408131295226,0.004464897724,0.0697664136693,0.999999928653,1.13999377855e-05,-0.000376297339374,3.10512646976e-05,1793250329934224384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769.810016639,745.189983361,721,687,663.810016639,641,886.189983361,787,818.189983361,653,631,655.810016639,0.407605687186,0.00446128134825,0.0697805980682,0.99999993947,3.48067777806e-06,-0.000346565446743,3.06758126344e-05,1793250329950891264
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,745.391211847,720.608788153,686.608788153,664,641,886,787,818,653,631,655.608788153,0.407097692937,0.00446461525596,0.0697970226364,0.999999947254,1.3731140499e-05,-0.000323031443157,3.08816358807e-05,1793250329967557888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,745.968884397,720.031115603,686.031115603,664,641,886,787,818,653,631,655.031115603,0.406598093785,0.00447126183076,0.069814514923,0.999999953237,3.26417167097e-05,-0.000302451495494,3.13645084707e-05,1793250329984224768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769.45254626,746,720.54745374,686.54745374,664,641,886,787,818.54745374,653,631,655.54745374,0.406100122355,0.00448048036119,0.0698052630964,0.999999945909,4.15966102792e-05,-0.000324712631413,3.18368690278e-05,1793250330000891136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745.874595738,721,686.874595738,664,641,886,787,819,653,631,656,0.405620267391,0.00448726239354,0.0697988073064,0.999999940562,4.53745075798e-05,-0.000340281456125,3.20127898696e-05,1793250330017557504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745.299049593,721,686.299049593,664,641,886,787,819,653,631,656,0.405205109195,0.00448477296931,0.069807853186,0.999999946796,3.26039121232e-05,-0.000323073379733,3.11267809356e-05,1793250330034224384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769.282053318,745,720.717946682,686,664,641,886,787,818.717946682,653,631.282053318,656,0.404825327849,0.00448303816309,0.0698215913043,0.999999955362,2.66472126024e-05,-0.000296025987525,3.05851175839e-05,1793250330050891008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769.869166208,745,720.130833792,686,664,641,886,787,818.130833792,653,631.869166208,656,0.404483808961,0.00448211952699,0.0698404043929,0.999999965775,2.80601990918e-05,-0.000258336716464,3.04158870973e-05,1793250330067557632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769.097015295,745,720,685.548507648,664,641,886,787,818,653,632,656,0.40414063599,0.00447812084318,0.0698471664367,0.999999968919,2.2185938196e-05,-0.000246470904664,3.03554686016e-05,1793250330084224512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.032043351,745,720,685,664,641,885.967956649,787,818,653,631.967956649,656,0.403798398846,0.00447325457657,0.0698495577579,0.99999996981,1.37259427946e-05,-0.000243471997196,3.02214420486e-05,1793250330100891136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.605788578,745,720,685,664,641,885.394211422,787,818,653,631.394211422,656,0.403480000114,0.00446865190046,0.0698364774106,0.999999964431,-3.12218543016e-06,-0.000265193129384,2.83155916588e-05,1793250330117557760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,720,685.179996357,664,641,885.359992715,787,818,653,631,656,0.403173691559,0.00446527380484,0.069825499137,0.999999959152,-1.74101404933e-05,-0.000284035660101,2.67880853166e-05,1793250330134224384
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,720,685.755219712,664,641,886.510439424,787,818,653,631,656,0.402893930051,0.00446458458244,0.0698191364935,0.999999955346,-2.6076593192e-05,-0.000296557499187,2.6091328193e-05,1793250330150890752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,745,720,685.659511276,664.340488724,641,886.659511276,787,818,653,631,656,0.402641375311,0.00446322400068,0.0698110676366,0.999999951311,-3.06985213894e-05,-0.000309395636725,2.66578293877e-05,1793250330167557376
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,720,685.06680074,664.93319926,641,886.06680074,787,818,653,631,656,0.402408974338,0.00446136609996,0.0698017348776,0.999999947088,-3.23244120883e-05,-0.000322468078091,2.81601068735e-05,1793250330184223744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769.512464693,745,720,685,664.487535307,641,885.487535307,787,818,653,631,656,0.40221114253,0.00446203073472,0.0697992964857,0.999999945788,-2.95440687809e-05,-0.000326636850911,2.93035780209e-05,1793250330200890624
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.9103646,745,720,684.9103646,664,640.9103646,885.0896354,787,818,653,631,656,0.402023357019,0.00446308585923,0.0697985643145,0.999999945321,-2.55529599715e-05,-0.000328293526693,3.04767154257e-05,1793250330217557504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.335289211,745,720,684.335289211,664,640.335289211,885.664710789,787,818,653,631,656,0.401866199169,0.00446452051133,0.0698023299083,0.99999994733,-1.80357393975e-05,-0.000322470239587,3.20573405898e-05,1793250330234224128
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.240242895,664,640.240242895,885.759757105,787,817.759757105,653,631,656,0.401718549928,0.00447335911325,0.0698033873079,0.999999947988,2.1647311644e-05,-0.000320108215144,3.29536889195e-05,1793250330250890496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.816413585,664,640.816413585,885.183586415,787,817.183586415,653,631,656,0.401584196431,0.00449255053963,0.0698006578824,0.999999941778,0.000106307328315,-0.000322586017661,3.28932236418e-05,1793250330267557376
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,885,787,817.404511814,653,631.404511814,656,0.40147105035,0.00450757230906,0.0697989574058,0.999999940367,0.000113531304317,-0.000325240865759,2.44094355341e-05,1793250330284224256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,885,787,817.998187769,653,631.998187769,656,0.401367821615,0.00452064419774,0.0697977381023,0.999999942569,8.45434256616e-05,-0.000327978507051,1.1986601511e-05,1793250330300890880
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.42691527,664,641,885,787,818,653,631.42691527,656,0.401288637113,0.00450634915751,0.0697976128234,0.999999943342,6.95941893216e-05,-0.000328967578782,1.59349866316e-05,1793250330317557248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745.147581563,720.147581563,684.147581563,664,641,885,787,818,653,631,656,0.401215231273,0.00449715193037,0.0697979431925,0.99999994401,6.08035625522e-05,-0.000328515486106,1.90086907801e-05,1793250330334223872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745.721089456,720.721089456,684.721089456,664,641,885,787,818,653,631,656,0.401158290426,0.00450290903507,0.0697995789127,0.999999944923,6.96628769813e-05,-0.000323919586701,1.94133608057e-05,1793250330350890752
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745.696442421,720.696442421,685,664.303557579,641,885.303557579,787,818,653,631,656,0.401112497532,0.00450450336496,0.0698033300207,0.999999947072,7.11100826683e-05,-0.000316864579798,1.99010063664e-05,1793250330367557120
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745.105491117,720.105491117,685,664.894508883,641,885.894508883,787,818,653,631,656,0.401077258976,0.00450215658042,0.0698090838764,0.99999995037,6.55398610875e-05,-0.000307481407569,2.04672092225e-05,1793250330384223744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.523779994,641,886,787,818,653,631,656,0.401048812527,0.00450085384326,0.0698109049389,0.999999951354,6.54420371715e-05,-0.000304238815403,2.11506932182e-05,1793250330400890624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769.055382341,745,720.055382341,685,664,641,885.944617659,787,818,653,631.055382341,656,0.401022827228,0.00449987005861,0.069811980708,0.99999995191,6.63650852752e-05,-0.000302158026721,2.18264457313e-05,1793250330417557504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769.62947907,745,720.62947907,685,664,641,885.37052093,787,818,653,631.62947907,656,0.401006069507,0.0044997486973,0.0698140802589,0.999999953055,6.5711948073e-05,-0.000298461100633,2.21910878841e-05,1793250330434224128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769.791818849,745,720.791818849,684.791818849,664,641,884.791818849,787,818,653,631.791818849,656,0.400992053466,0.00449901071464,0.0698158342078,0.999999954081,6.35151050223e-05,-0.000295467657679,2.24376017123e-05,1793250330450890752
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769.204734768,745,720.204734768,684.204734768,664,641,884.204734768,787,818,653,631.204734768,656,0.400983027454,0.00449715044191,0.0698169591392,0.99999995489,5.85086192179e-05,-0.000293754598978,2.24691144567e-05,1793250330467557376
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.379236695,664.379236695,641,884.379236695,787,818,653,631,655.620763305,0.400977204034,0.00449752472326,0.0698177457184,0.999999955435,5.65950366018e-05,-0.000292308997919,2.19518690637e-05,1793250330484224000
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.961541439,664.961541439,641,884.961541439,787,818,653,631,655.038458561,0.400973095489,0.00449909553061,0.0698183511216,0.999999955847,5.63375961455e-05,-0.000291006611174,2.11407827889e-05,1793250330500890624
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.464640476,664.464640476,641,885,787,818,653,631,655.535359524,0.400971933109,0.00449829720915,0.069819901894,0.999999956674,5.65850204172e-05,-0.000288064035048,2.16546920484e-05,1793250330517557248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.109106456,664,641,885,787,818,653,631,656,0.400971171595,0.00449742060074,0.0698213182909,0.999999957445,5.67961398549e-05,-0.00028530176583,2.20642428959e-05,1793250330534224128
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.685116963,664,641,885,787,818,653,631,656,0.400971233966,0.00449692591581,0.0698218735628,0.999999957885,5.6699117412e-05,-0.000283807442847,2.16262411207e-05,1793250330550890752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769.267840332,745,720.267840332,684.732159668,664,641,885.267840332,787,818,653,631,656,0.40097118685,0.00449681185087,0.069822626636,0.999999958226,5.69469351603e-05,-0.000282557312213,2.15809724903e-05,1793250330567557376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769.858658549,745,720.858658549,684.141341451,664,641,885.858658549,787,818,653,631,656,0.400971007708,0.00449715676021,0.06982361823,0.999999958449,5.7610581815e-05,-0.000281601643117,2.2009284908e-05,1793250330584224000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769.559682434,745,720.559682434,684.440317566,664.440317566,641,886,787,818,653,631.440317566,656,0.400970377081,0.00449780112828,0.0698241123382,0.999999958608,5.67693594867e-05,-0.000281207983032,2.19836051674e-05,1793250330600890624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.981046891,664.981046891,641,885.981046891,787,818,653.018953109,632,656,0.40096965829,0.00449846828474,0.0698244716808,0.999999958763,5.54674807913e-05,-0.000280928299734,2.18227907226e-05,1793250330617557248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.406609965,664.406609965,641,885.406609965,787,818,653.593390035,632,656,0.400970516559,0.00449704345148,0.0698254662146,0.999999959406,5.45337515633e-05,-0.000278809480768,2.18855001887e-05,1793250330634223872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,885.168148474,787,818,654,631.831851526,656,0.400970774915,0.0044963776082,0.0698261306346,0.999999959767,5.44923137363e-05,-0.000277516147154,2.19364006764e-05,1793250330650890752
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,885.74368584,787,818,654,631.25631416,656,0.400969579805,0.00449755064033,0.0698259952574,0.999999959452,5.66127130392e-05,-0.000278222793535,2.19586904543e-05,1793250330667557376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,745,720.32738948,684.32738948,664,641,885.67261052,787,818,653.67261052,631,656,0.400969248924,0.00449773464492,0.0698258262114,0.999999959255,5.62976211271e-05,-0.000279009681401,2.17628125897e-05,1793250330684224000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,720.917650047,684.917650047,664,641,885.082349953,787,818,653.082349953,631,656,0.400969611961,0.0044971245288,0.0698256301319,0.999999959151,5.40269982888e-05,-0.000279860997592,2.13917612119e-05,1793250330700890624
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,664,641,885.497338032,787,818,653,631,656,0.400970265785,0.00449626828705,0.0698262805206,0.999999959434,5.45892192087e-05,-0.000278730652922,2.14833877533e-05,1793250330717558016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,745,720.924904742,684.924904742,664,641,886,787,818,653,631,656.075095258,0.4009708392,0.00449573167346,0.0698269260753,0.999999959747,5.55223378921e-05,-0.000277410482119,2.15998615555e-05,1793250330734225408
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,720.348593299,684.348593299,664,641,886,787,818,653,631,656.651406701,0.40097056125,0.00449759473383,0.0698266233568,0.999999959855,5.58654078926e-05,-0.000276967795563,2.13814877003e-05,1793250330750891776
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745,720.232803989,684,664,641,886,787,818,653,631.232803989,656.767196011,0.400970699668,0.00449818625513,0.0698271405754,0.99999996018,5.53935049897e-05,-0.000275896502601,2.12953057193e-05,1793250330767558144
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,745,720.821986833,684,664,641,886,787,818,653,631.821986833,656.178013167,0.400971475465,0.004496831291,0.0698289129623,0.99999996083,5.36740328382e-05,-0.000273862932109,2.14114844501e-05,1793250330784224768
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745,721,684,664.402860901,641,885.597139099,787,818,653,631.597139099,656,0.400971406807,0.00449677057088,0.0698285822007,0.999999960712,5.41953315792e-05,-0.000274181984,2.15060806274e-05,1793250330800891648
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5fcd33a12df99a3dfaeff6d2a9acada5b197ee64
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,412 @@
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+237,3.950000000,pose1_to_pose2_press,0.621051161248,0.0101500412969,1.06003351248,0.591621839764,0.0188226773446,1.05970490373
+238,3.966666667,pose1_to_pose2_press,0.621051167676,0.0101500412518,1.06003351255,0.591621846194,0.0188226773071,1.05970490378
+239,3.983333333,pose1_to_pose2_press,0.621051292656,0.0101500403752,1.06003351396,0.591621971225,0.0188226765797,1.05970490466
+240,4.000000000,pose1_to_pose2_press,0.621051597684,0.0101500382357,1.0600335174,0.591622276374,0.0188226748041,1.05970490681
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+242,4.033333333,pose1_to_pose2_press,0.621051732282,0.0101500731483,1.06003353883,0.591622410682,0.0188227087677,1.05970492901
+243,4.050000000,pose1_to_pose2_press,0.621051740791,0.0101500766227,1.06003354089,0.59162241916,0.0188227121429,1.05970493116
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+245,4.083333333,pose1_to_pose2_press,0.62105193836,0.010150157301,1.0600335887,0.591622616024,0.0188227905173,1.05970498117
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+247,4.116666667,pose1_to_pose2_press,0.621052125149,0.0101501561954,1.06003375146,0.591622802114,0.0188227870252,1.0597051435
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+265,4.416666667,pose2_to_pose3_retreat,0.621052044796,0.0101502065326,1.06003361964,0.591622721857,0.0188228377593,1.05970501372
+266,4.433333333,pose2_to_pose3_retreat,0.621051866486,0.010150159997,1.06003362907,0.59162254371,0.0188227917248,1.05970502178
+267,4.450000000,pose2_to_pose3_retreat,0.621051777895,0.0101501368763,1.06003363376,0.5916224552,0.0188227688532,1.05970502578
+268,4.466666667,pose2_to_pose3_retreat,0.621051711445,0.0101501195342,1.06003363727,0.591622388812,0.0188227516979,1.05970502878
+269,4.483333333,pose2_to_pose3_retreat,0.621051693617,0.010150116984,1.06003363237,0.591622371013,0.0188227492488,1.05970502393
+270,4.500000000,pose2_to_pose3_retreat,0.621051677108,0.0101501151734,1.0600336263,0.591622354534,0.0188227475453,1.05970501797
+271,4.516666667,pose2_to_pose3_retreat,0.621051551983,0.0101501014513,1.06003358031,0.59162222964,0.0188227346343,1.05970497274
+272,4.533333333,pose2_to_pose3_retreat,0.621050988286,0.010150039632,1.0600333731,0.59162166698,0.0188226764694,1.05970476898
+273,4.550000000,pose2_to_pose3_retreat,0.621048544577,0.0101500205579,1.06003359475,0.591619224105,0.018822659904,1.05970498246
+274,4.566666667,pose2_to_pose3_retreat,0.621042856432,0.010149981576,1.06003361389,0.591613538008,0.0188226282087,1.05970501009
+275,4.583333333,pose2_to_pose3_retreat,0.621029132375,0.0101500315747,1.06003353316,0.591599811761,0.0188226708751,1.05970493242
+276,4.600000000,pose2_to_pose3_retreat,0.621006964992,0.0101500590924,1.06003361387,0.591577643562,0.0188226954869,1.05970500867
+277,4.616666667,pose2_to_pose3_retreat,0.620975024911,0.0101501912271,1.06003351689,0.591545701735,0.0188228217144,1.0597049145
+278,4.633333333,pose2_to_pose3_retreat,0.620934198068,0.0101501808817,1.06003356613,0.591504875141,0.0188228121743,1.05970496258
+279,4.650000000,pose2_to_pose3_retreat,0.62088452176,0.0101501056674,1.06003355889,0.591455198953,0.0188227372486,1.05970495234
+280,4.666666667,pose2_to_pose3_retreat,0.620828884542,0.0101501699536,1.06003361506,0.591399560761,0.0188227981961,1.05970500949
+281,4.683333333,pose2_to_pose3_retreat,0.620767187848,0.0101502027291,1.0600335396,0.591337864915,0.0188228336051,1.05970493384
+282,4.700000000,pose2_to_pose3_retreat,0.620697011517,0.0101500520742,1.06003341999,0.59126769055,0.0188226895578,1.05970481393
+283,4.716666667,pose2_to_pose3_retreat,0.620617849694,0.0101501472297,1.06003364888,0.591188526958,0.0188227784737,1.05970503709
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+286,4.766666667,pose2_to_pose3_retreat,0.62030808802,0.0101501420163,1.06003354715,0.59087876591,0.018822775724,1.059704943
+287,4.783333333,pose2_to_pose3_retreat,0.62017722118,0.0101501102886,1.06003347531,0.590747899139,0.018822744313,1.05970487511
+288,4.800000000,pose2_to_pose3_retreat,0.620031983678,0.0101501857277,1.06003343706,0.590602660294,0.0188228152126,1.05970483926
+289,4.816666667,pose2_to_pose3_retreat,0.619869367748,0.0101501171317,1.06003334575,0.590440046575,0.0188227539286,1.05970474532
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+292,4.866666667,pose2_to_pose3_retreat,0.619268603797,0.0101499245332,1.06003350406,0.58983928598,0.0188225726266,1.05970490929
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+296,4.933333333,pose2_to_pose3_retreat,0.618182735852,0.0101501934552,1.06003347247,0.588753412508,0.0188228220739,1.0597048672
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+307,5.116666667,pose2_to_pose3_retreat,0.613631395291,0.0101501451049,1.06003353537,0.584202072913,0.0188227760072,1.05970493142
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+322,5.366666667,pose2_to_pose3_retreat,0.603934447988,0.0101501401701,1.0600335531,0.574505126511,0.0188227740984,1.05970494728
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+333,5.550000000,pose2_to_pose3_retreat,0.595436942961,0.0101502154029,1.06003361047,0.566007621111,0.0188228481611,1.05970500645
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+337,5.616666667,pose2_to_pose3_retreat,0.592282623547,0.0101501133868,1.06003348374,0.562853301382,0.0188227451818,1.0597048824
+338,5.633333333,pose2_to_pose3_retreat,0.59156122596,0.0101500811462,1.06003351677,0.562131904461,0.0188227149371,1.05970490841
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+347,5.783333333,pose2_to_pose3_retreat,0.585486484838,0.0101501490768,1.06003351021,0.556057163639,0.0188227839274,1.05970490271
+348,5.800000000,pose2_to_pose3_retreat,0.584913068943,0.010150131633,1.06003359827,0.555483747762,0.0188227662825,1.05970498382
+349,5.816666667,pose2_to_pose3_retreat,0.584354656248,0.0101501323771,1.06003376033,0.554925335354,0.0188227681407,1.05970514963
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+351,5.850000000,pose2_to_pose3_retreat,0.583250917721,0.0101503185192,1.06003317577,0.553821594107,0.0188229458852,1.05970458695
+352,5.866666667,pose2_to_pose3_retreat,0.582704109555,0.010150245554,1.06003331835,0.553274786582,0.0188228750453,1.05970472822
+353,5.883333333,pose2_to_pose3_retreat,0.582178108081,0.0101500722351,1.06003356277,0.552748786437,0.0188227057032,1.05970495863
+354,5.900000000,pose2_to_pose3_retreat,0.581681996983,0.0101500553301,1.06003353795,0.552252675595,0.0188226893572,1.05970492557
+355,5.916666667,pose2_to_pose3_retreat,0.581217271285,0.010150165066,1.0600334951,0.551787948835,0.0188227955085,1.05970488317
+356,5.933333333,pose2_to_pose3_retreat,0.580776762191,0.0101502038383,1.06003359215,0.551347438937,0.0188228316382,1.05970498258
+357,5.950000000,pose2_to_pose3_retreat,0.580356138837,0.0101501048581,1.06003337014,0.550926817154,0.0188227382741,1.05970476801
+358,5.966666667,pose2_to_pose3_retreat,0.57995398434,0.0101500910666,1.06003340787,0.550524663199,0.0188227268951,1.05970482088
+359,5.983333333,pose2_to_pose3_retreat,0.579573528407,0.0101501143799,1.06003358392,0.550144207383,0.0188227499453,1.05970497956
+360,6.000000000,pose2_to_pose3_retreat,0.579219516577,0.0101501355557,1.06003344597,0.549790194456,0.0188227674437,1.05970484289
+361,6.016666667,pose2_to_pose3_retreat,0.578891570958,0.0101501215769,1.06003340011,0.549462248056,0.0188227510483,1.05970480316
+362,6.033333333,pose2_to_pose3_retreat,0.578586788723,0.0101501268607,1.06003342492,0.549157465929,0.0188227566834,1.05970482755
+363,6.050000000,pose2_to_pose3_retreat,0.57829827441,0.0101501665897,1.06003345727,0.548868952191,0.018822798017,1.05970485072
+364,6.066666667,pose2_to_pose3_retreat,0.578022255341,0.0101500724543,1.06003390105,0.548592932707,0.0188227021034,1.0597052848
+365,6.083333333,pose2_to_pose3_retreat,0.577756442042,0.0101502610753,1.06003341011,0.548327117527,0.0188228849205,1.05970480918
+366,6.100000000,pose2_to_pose3_retreat,0.577506029474,0.0101501889717,1.06003356003,0.54807670685,0.0188228191256,1.05970495622
+367,6.116666667,pose2_to_pose3_retreat,0.57727413431,0.0101500991885,1.06003342844,0.547844812643,0.0188227326956,1.05970482742
+368,6.133333333,pose2_to_pose3_retreat,0.577062386329,0.0101500400541,1.06003335558,0.547633064911,0.0188226744217,1.05970475502
+369,6.150000000,pose2_to_pose3_retreat,0.576870610326,0.0101501505986,1.0600333755,0.547441288011,0.0188227817594,1.05970477067
+370,6.166666667,pose2_to_pose3_retreat,0.576699460305,0.0101501346629,1.06003338511,0.54727013848,0.0188227674363,1.05970477901
+371,6.183333333,pose2_to_pose3_retreat,0.576545876624,0.0101499706406,1.06003345443,0.547116556366,0.0188226087631,1.05970484924
+372,6.200000000,pose2_to_pose3_retreat,0.576408763776,0.0101500655683,1.0600336481,0.546979442494,0.0188227000016,1.05970503727
+373,6.216666667,pose2_to_pose3_retreat,0.576285924387,0.0101500302191,1.06003364415,0.546856603819,0.0188226670052,1.05970503136
+374,6.233333333,pose2_to_pose3_retreat,0.576177353342,0.0101500916601,1.0600333608,0.546748032489,0.0188227279905,1.05970476161
+375,6.250000000,pose2_to_pose3_retreat,0.576081778857,0.0101500958759,1.06003360653,0.546652457354,0.0188227295365,1.05970499557
+376,6.266666667,pose2_to_pose3_retreat,0.575998731775,0.0101500214995,1.06003353477,0.546569411443,0.0188226592587,1.05970492705
+377,6.283333333,pose2_to_pose3_retreat,0.575928602638,0.0101501001257,1.06003357427,0.546499283449,0.018822741971,1.0597049721
+378,6.300000000,pose2_to_pose3_retreat,0.575869831537,0.0101501842928,1.06003362254,0.546440512192,0.018822825519,1.05970501793
+379,6.316666667,pose2_to_pose3_retreat,0.575822431697,0.0101501035586,1.06003361797,0.54639311169,0.0188227424944,1.0597050121
+380,6.333333333,pose2_to_pose3_retreat,0.575783464786,0.0101500254105,1.06003356791,0.546354143988,0.0188226617201,1.05970496366
+381,6.350000000,pose2_to_pose3_retreat,0.57575235575,0.0101501185337,1.06003347781,0.546323034082,0.0188227518595,1.05970487268
+382,6.366666667,pose2_to_pose3_retreat,0.57572795563,0.0101500003342,1.06003336891,0.546298634455,0.0188226354319,1.05970476646
+383,6.383333333,pose2_to_pose3_retreat,0.575708870783,0.0101501509961,1.06003335596,0.546279547448,0.0188227788478,1.0597047557
+384,6.400000000,pose2_to_pose3_retreat,0.575694155017,0.0101502629791,1.06003327429,0.54626483154,0.018822890372,1.05970467462
+385,6.416666667,pose2_to_pose3_retreat,0.575683154958,0.0101501595736,1.06003331268,0.546253832987,0.0188227920012,1.05970471103
+386,6.433333333,pose2_to_pose3_retreat,0.575675738638,0.0101501024398,1.06003337335,0.546246417349,0.0188227370998,1.05970476965
+387,6.450000000,pose2_to_pose3_retreat,0.575670861181,0.0101501965704,1.06003344646,0.546241539155,0.0188228286863,1.05970484165
+388,6.466666667,pose2_to_pose3_retreat,0.575667979479,0.0101501798158,1.06003380144,0.546238657411,0.0188228116922,1.05970519419
+389,6.483333333,pose2_to_pose3_retreat,0.575666481791,0.0101501475208,1.06003365074,0.546237160665,0.0188227825766,1.05970504299
+390,6.500000000,pose2_to_pose3_retreat,0.575665752388,0.0101501249342,1.06003347988,0.546236432,0.0188227624991,1.05970487212
+391,6.516666667,pose2_to_pose3_retreat,0.575665499307,0.0101501170974,1.0600334206,0.546236179176,0.0188227555329,1.05970481283
+392,6.533333333,pose2_to_pose3_retreat,0.575665317401,0.0101501192896,1.06003340587,0.54623599711,0.0188227571697,1.05970479774
+393,6.550000000,pose2_to_pose3_retreat,0.575665149441,0.0101501321286,1.06003343079,0.546235828528,0.0188227678636,1.05970482185
+394,6.566666667,pose2_to_pose3_retreat,0.575665069817,0.0101501382152,1.0600334426,0.546235748608,0.0188227729332,1.05970483327
+395,6.583333333,pose2_to_pose3_retreat,0.575665024097,0.0101501417101,1.06003344939,0.546235702719,0.0188227758442,1.05970483984
+396,6.600000000,pose2_to_pose3_retreat,0.575664865616,0.0101501538246,1.0600334729,0.54623554365,0.0188227859346,1.05970486258
+397,6.616666667,pose2_to_pose3_retreat,0.575664740403,0.0101501633961,1.06003349148,0.546235417973,0.0188227939068,1.05970488056
+398,6.633333333,pose2_to_pose3_retreat,0.575664735261,0.0101501637891,1.06003349224,0.546235412812,0.0188227942342,1.05970488129
+399,6.650000000,pose2_to_pose3_retreat,0.575664707428,0.0101501659167,1.06003349637,0.546235384875,0.0188227960063,1.05970488529
+400,6.666666667,pose2_to_pose3_retreat,0.575664700293,0.0101501664621,1.06003349743,0.546235377714,0.0188227964606,1.05970488631
+401,6.683333333,pose2_to_pose3_retreat,0.575664591364,0.0101501747888,1.0600335136,0.546235268381,0.018822803396,1.05970490195
+402,6.700000000,pose2_to_pose3_retreat,0.575664436938,0.0101501836231,1.06003352823,0.546235113396,0.0188228103124,1.05970491598
+403,6.716666667,pose2_to_pose3_retreat,0.575664347859,0.0101501373565,1.06003339343,0.546235024242,0.0188227638805,1.0597047835
+404,6.733333333,pose2_to_pose3_retreat,0.575664293316,0.0101501090274,1.0600333109,0.546234969654,0.0188227354503,1.05970470237
+405,6.750000000,pose2_to_pose3_retreat,0.575664286942,0.0101501057166,1.06003330125,0.546234963274,0.0188227321277,1.05970469289
+406,6.766666667,pose2_to_pose3_retreat,0.575664262099,0.0101500819759,1.06003326367,0.546234938628,0.0188227090767,1.05970465595
+407,6.783333333,pose2_to_pose3_retreat,0.575664260507,0.0101500259947,1.06003326132,0.546234938138,0.0188226568373,1.0597046536
+408,6.800000000,pose2_to_pose3_retreat,0.57566425936,0.0101499856847,1.06003325962,0.546234937785,0.0188226192217,1.05970465192
+409,6.816666667,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+410,6.833333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087192,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bcba75310024101f74d12c9913ee2bd2c37b7295
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f85c4d3630f791667f73b4860ba0c81008be939bf2f5297c9d9386666583c7e
+size 26044195
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3eaee59551939a559b8780883fe6f7e69865e06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,413 @@
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+26,0.433333333,BASELINE,769,745,720.130772075,685,665,641,885.130772075,787,818,653,631.869227925,656,0.400968809492,0.00449616895686,0.0698277840639,0.999999960686,5.22445549473e-05,-0.000274703602599,2.09110509307e-05,1793250331425016320
+27,0.450000000,BASELINE,769,745,720.710096573,685,665,641,885.710096573,787,818,653,631.289903427,656,0.400970111062,0.00449683279196,0.0698292577568,0.999999961335,5.39144889171e-05,-0.000271983408973,2.11854082152e-05,1793250331441683456
+28,0.466666667,BASELINE,769,745,720.712677178,685,665,641,886,787,818,653,631.287322822,656,0.400970621826,0.0044969306281,0.0698300730653,0.99999996166,5.50871303491e-05,-0.000270542263923,2.12517343165e-05,1793250331458350592
+29,0.483333333,BASELINE,769,745,720.137552709,685,665,641,886,787,818,653,631.862447291,656,0.400970340466,0.00449646152198,0.0698302288921,0.999999961669,5.57616504016e-05,-0.000270382299162,2.11096825327e-05,1793250331475017216
+30,0.500000000,BASELINE,769.445725449,745,720.445725449,685,665,641,886,787,818.445725449,653,632,656,0.400970532214,0.00449644539414,0.0698302235475,0.999999961615,5.40219207987e-05,-0.00027094071039,2.1061629465e-05,1793250331491683584
+31,0.516666667,BASELINE,769.968823638,745,721,684.968823638,664.968823638,641,886,787,819,653,631.968823638,656,0.400970847739,0.00449663089842,0.0698301821762,0.999999961535,5.18232706984e-05,-0.000271665512535,2.10368854067e-05,1793250331508349952
+32,0.533333333,BASELINE,769.390227419,745,721,684.390227419,664.390227419,641,886,787,819,653,631.390227419,656,0.400970725209,0.0044978565219,0.0698303978373,0.99999996146,5.48924398674e-05,-0.000271346726277,2.09025757326e-05,1793250331525016576
+33,0.550000000,BASELINE,769,745,721,684.1890029,664.1890029,641,886,787,818.8109971,653,631,656,0.400970294629,0.00449862349633,0.0698302199503,0.999999961246,5.70943174313e-05,-0.000271692713384,2.07859749131e-05,1793250331541683200
+34,0.566666667,BASELINE,769,745,721,684.769546757,664.769546757,641,886,787,818.230453243,653,631,656,0.400969225888,0.00449844032705,0.0698292267837,0.999999960754,5.74995016172e-05,-0.000273415854011,2.07060600126e-05,1793250331558349824
+35,0.583333333,BASELINE,769,745,721,685,664.654298377,641,885.654298377,787,818,653,631,656,0.4009694915,0.00449762429021,0.0698293449651,0.999999960872,5.7610738717e-05,-0.000272940146055,2.09783377003e-05,1793250331575016704
+36,0.600000000,BASELINE,769,745,721,685,664.081032586,641,885.081032586,787,818,653,631,656,0.400970635473,0.00449639165717,0.0698301947108,0.999999961389,5.75284800215e-05,-0.000271017007545,2.14824523408e-05,1793250331591683840
+37,0.616666667,BASELINE,769,745,720.499561432,685,664.500438568,641,885,787,818,653,631.500438568,656,0.400971256387,0.00449707518137,0.0698307491807,0.999999961553,5.74383469009e-05,-0.000270445315618,2.13059846111e-05,1793250331608350720
+38,0.633333333,BASELINE,769,745,720,685,665.083878713,641,885,787,818,653,631.916121287,656,0.400971700767,0.00449781308324,0.0698310913336,0.999999961649,5.72586802066e-05,-0.000270144499946,2.11006347431e-05,1793250331625017344
+39,0.650000000,BASELINE,769,745,720,685,665.671028331,641,885,787,818,653,631.328971669,656,0.400971602589,0.00449698460194,0.0698304512404,0.999999961686,5.65495913153e-05,-0.000270134071011,2.13942249645e-05,1793250331641683456
+40,0.666666667,BASELINE,769,745,720,684.747312342,665.747312342,641,885,787,818,653,631,655.747312342,0.400971289771,0.00449656642649,0.0698302367932,0.999999961643,5.59007821999e-05,-0.000270427180631,2.14114151581e-05,1793250331658349824
+41,0.683333333,BASELINE,769,745,720,684.172648805,665.172648805,641,885,787,818,653,631,655.172648805,0.400970703455,0.00449667106485,0.0698305647061,0.999999961498,5.53287819189e-05,-0.000271107060597,2.10764150361e-05,1793250331675016448
+42,0.700000000,BASELINE,769,745,720,684.402193574,664.597806426,641,885,786.597806426,818.402193574,653,631,655.402193574,0.400970106306,0.0044972350157,0.0698301639808,0.999999961298,5.53859509805e-05,-0.000271861389092,2.06904047096e-05,1793250331691682816
+43,0.716666667,BASELINE,769,745,720,684.977112744,664.022887256,641,885,786.022887256,818.977112744,653,631,655.977112744,0.400969504504,0.00449799622237,0.0698294503354,0.999999961074,5.57133224085e-05,-0.00027264769015,2.02824876072e-05,1793250331708349440
+44,0.733333333,BASELINE,769,745,720,685,664,641,885.566526169,786.566526169,818.433473831,653.566526169,631.566526169,656,0.400970223265,0.00449733509802,0.0698301991512,0.99999996131,5.62636243328e-05,-0.000271633299773,2.07491741168e-05,1793250331725016064
+45,0.750000000,BASELINE,769,745,720,685,664,641,886,787,818,653.846180636,632,656,0.400970413478,0.00449656194835,0.0698305721121,0.999999961437,5.59612499109e-05,-0.000271202664088,2.10796961239e-05,1793250331741682688
+46,0.766666667,BASELINE,769,745,720,685,664,641,886,787,818,653.266422667,632,656,0.400968988486,0.00449564188383,0.0698297363992,0.999999961208,5.32721498919e-05,-0.000272595224487,2.09327572567e-05,1793250331758349312
+47,0.783333333,BASELINE,769,745,720.310760488,685,664.310760488,641,885.689239512,787,818,653,631.689239512,656,0.400968779374,0.00449579855684,0.0698297382877,0.999999961195,5.2659530009e-05,-0.000272772247183,2.07957592031e-05,1793250331775015680
+48,0.800000000,BASELINE,769,745,720.885754394,685,664.885754394,641,885.114245606,787,818,653,631.114245606,656,0.4009696041,0.0044968707581,0.0698304523719,0.999999961369,5.38124993027e-05,-0.000271915722669,2.06672136078e-05,1793250331791682304
+49,0.816666667,BASELINE,769,745,721,685,664.539727568,641,885.460272432,787,818,653,631.460272432,656,0.400969325933,0.004497778276,0.0698300448658,0.999999961219,5.44580760773e-05,-0.000272331399074,2.07965047963e-05,1793250331808349952
+50,0.833333333,BASELINE,769,745,721,685,664.035695083,641,885.964304917,787,818,653,631.964304917,656,0.400968922174,0.00449850403331,0.0698294329223,0.999999961041,5.48545949178e-05,-0.000272891129002,2.09669411031e-05,1793250331825017344
+51,0.850000000,BASELINE,769,745,721,685,664.627036714,641,885.372963286,787,818,653,631.372963286,656,0.400970820369,0.00449703606685,0.0698299677343,0.9999999617,5.33325996602e-05,-0.000270782810411,2.07826608439e-05,1793250331841683456
+52,0.866666667,BASELINE,769,745,721,685,665,641,885.213643626,787,818,653,631.213643626,656,0.400971230761,0.00449636502866,0.0698299657106,0.999999961803,5.3244841389e-05,-0.00027043054515,2.06603021703e-05,1793250331858349824
+53,0.883333333,BASELINE,769,745,721,685,665,641,885.792164189,787,818,653,631.792164189,656,0.400969100169,0.00449705504568,0.0698290468379,0.999999960955,5.56065829133e-05,-0.000273077402303,2.06436979314e-05,1793250331875016704
+54,0.900000000,BASELINE,769.368264177,745,721,684.631735823,665,641,885.631735823,787,818,653,632,656,0.400969447084,0.00449690106904,0.0698295703598,0.999999961198,5.45402329922e-05,-0.000272409328708,2.05437031238e-05,1793250331891683840
+55,0.916666667,BASELINE,769.943006976,745,721,684.056993024,665,641,885.056993024,787,818,653,632,656,0.400971183089,0.00449627388142,0.0698309026046,0.999999962045,5.15518182232e-05,-0.000269882637274,2.03969528328e-05,1793250331908350464
+56,0.933333333,BASELINE,769.467607617,745,721,684,665,641,885.532392383,787,818,653,631.467607617,656,0.400970806959,0.00449757750659,0.0698309162055,0.999999961616,5.5874835967e-05,-0.000270591692643,2.06337277263e-05,1793250331925016832
+57,0.950000000,BASELINE,769,745,721,684.120907281,665,641,886,787.120907281,818,653,631.120907281,656,0.40097034375,0.00449852423099,0.0698307687117,0.999999961186,5.92202445616e-05,-0.00027145380071,2.0809370391e-05,1793250331941682944
+58,0.966666667,BASELINE,769,745,721,684.700014743,665,641,886,787.700014743,818,653,631.700014743,656,0.400970431639,0.00449731295308,0.0698305608077,0.999999961362,5.58107731225e-05,-0.000271546099515,2.05933491891e-05,1793250331958349568
+59,0.983333333,BASELINE,769,745,720.723287199,684.723287199,664.723287199,641.276712801,885.723287199,787.723287199,818,653,631.723287199,656,0.400970624121,0.00449722169767,0.0698304939464,0.999999961411,5.45862737777e-05,-0.000271628826168,2.04067733359e-05,1793250331975016448
+60,1.000000000,BASELINE,769,745,720.149178566,684.149178566,664.149178566,641.850821434,885.149178566,787.149178566,818,653,631.149178566,656,0.400970929013,0.00449833418123,0.0698305786701,0.999999961332,5.57100629015e-05,-0.000271701265208,2.02518437118e-05,1793250331991683072
+61,1.016666667,BASELINE,769,745,720.434894673,684.434894673,664.434894673,641.565105327,885.434894673,787,818,653,631.434894673,656,0.400969736638,0.0044973489541,0.0698299190291,0.999999961191,5.38204125237e-05,-0.00027259515425,2.03114411018e-05,1793250332008350208
+62,1.033333333,BASELINE,769,745,720.977864063,685,665,641,886,787,818.022135937,653,632,656,0.400968151541,0.00449572506201,0.0698290696367,0.99999996104,5.11605221635e-05,-0.000273649687918,2.04583574751e-05,1793250332025017088
+63,1.050000000,BASELINE,769,745,720.398927889,685,665,641,886,787,818.601072111,653,632,656,0.400969909785,0.00449656044943,0.0698300204863,0.999999961374,5.57367529994e-05,-0.000271491126066,2.09072643259e-05,1793250332041683456
+64,1.066666667,BASELINE,769,745,720,684.820490695,665,641,885.820490695,787,818.820490695,653,632,656,0.400970978903,0.00449704246999,0.0698306453139,0.999999961589,5.86822986286e-05,-0.000270052348259,2.12107855479e-05,1793250332058350080
+65,1.083333333,BASELINE,769,745,720,684.243159359,665,641,885.243159359,787,818.243159359,653,632,656,0.400970520807,0.0044967413716,0.0698305476235,0.999999961586,5.80139783828e-05,-0.000270208729972,2.11921083692e-05,1793250332075016704
+66,1.100000000,BASELINE,769,745,720,684.332296994,665,641,885.332296994,787,818.332296994,653,632,656,0.400969676622,0.00449629791112,0.0698302229698,0.999999961412,5.60847708775e-05,-0.000271275836328,2.0971468184e-05,1793250332091683328
+67,1.116666667,BASELINE,769,745,720,684.906388996,665,641,885.906388996,787,818.906388996,653,632,656,0.4009685515,0.00449575086126,0.0698297331669,0.999999961105,5.32380821987e-05,-0.000273005628994,2.06038701643e-05,1793250332108349696
+68,1.133333333,BASELINE,768.517718447,745,720.482281553,685,665,641,885.517718447,787,818.517718447,653,632,656,0.400970784972,0.00449642132132,0.0698310807635,0.999999961554,5.56517101644e-05,-0.000270841316358,2.09789532721e-05,1793250332125016576
+69,1.150000000,BASELINE,768.060041934,745,721,685,665,641,885.060041934,787,818,653,632,656,0.400973175005,0.00449712943189,0.0698324958952,0.999999962043,5.84429643224e-05,-0.000268400321768,2.14333077811e-05,1793250332141682944
+70,1.166666667,BASELINE,768.65122174,745,721,685,665,641,885.65122174,787,818,653,632,656,0.400971161569,0.00449607226292,0.0698313417486,0.999999961722,5.5508752595e-05,-0.000270223135342,2.13089185975e-05,1793250332158349824
+71,1.183333333,BASELINE,769,745,721,684.763626571,664.763626571,641,885.527253141,787,818,653,631.763626571,656,0.400969601032,0.0044956897544,0.0698303252836,0.999999961412,5.38821661224e-05,-0.000271707683563,2.11684720025e-05,1793250332175016704
+72,1.200000000,BASELINE,769,745,721,684.187148322,664.187148322,641,884.374296643,787,818,653,631.187148322,656,0.400968692147,0.00449627797779,0.069829506921,0.99999996113,5.41370497935e-05,-0.000272705520507,2.10049212567e-05,1793250332191683840
+73,1.216666667,BASELINE,769,745,721,684.389251824,664.389251824,641,884.389251824,787,818,653.389251824,631,656,0.400969351046,0.00449729997073,0.0698300933856,0.999999961229,5.62248485632e-05,-0.00027192310199,2.09360803267e-05,1793250332208350208
+74,1.233333333,BASELINE,769,745,721,684.965614392,664.965614392,641,884.965614392,787,818,653.965614392,631,656,0.400970763568,0.00449853047375,0.0698313551412,0.999999961502,5.91937173218e-05,-0.00027028492654,2.09127657802e-05,1793250332225016320
+75,1.250000000,BASELINE,769,745,720.446554697,684.446554697,665,641,884.446554697,787,818,653.446554697,631.553445303,656,0.400970854686,0.00449715568924,0.0698310929549,0.999999961623,5.60383606954e-05,-0.000270507835882,2.09751124005e-05,1793250332241682944
+76,1.266666667,BASELINE,769,745,720,684.14013651,665.14013651,641,884.14013651,787,818,653,632,656,0.400970817746,0.00449605316004,0.0698306532303,0.999999961666,5.37747267395e-05,-0.000270803267152,2.10077367076e-05,1793250332258349568
+77,1.283333333,BASELINE,769,745,720,684.720955622,665.720955622,641,884.720955622,787,818,653,632,656,0.400970641741,0.00449632657093,0.0698299592526,0.99999996153,5.55371240442e-05,-0.000270955445692,2.09298037574e-05,1793250332275016192
+78,1.300000000,BASELINE,769,745,720.297751994,685,665.702248006,641,885.297751994,787,818,653,631.702248006,656,0.400970046569,0.00449712197815,0.0698297633536,0.999999961364,5.64448509616e-05,-0.000271389919961,2.08134465493e-05,1793250332291683072
+79,1.316666667,BASELINE,769,745,720.870828594,685,665.129171406,641,885.870828594,787,818,653,631.129171406,656,0.400969063802,0.00449840006366,0.0698300280168,0.999999961172,5.65622831959e-05,-0.000272085426768,2.06615592939e-05,1793250332308350208
+80,1.333333333,BASELINE,769,745,720.553917975,684.553917975,665,641,885.553917975,787,818,653.446082025,631.446082025,656,0.400969367926,0.00449755856875,0.06983002543,0.999999961161,5.6461257312e-05,-0.000272126437744,2.08919167844e-05,1793250332325017088
+81,1.350000000,BASELINE,769,745,720.02260514,684,664.97739486,641,885.02260514,787.02260514,818.02260514,653.97739486,631.97739486,655.97739486,0.400970025694,0.0044961617144,0.069829979265,0.999999961214,5.62899634809e-05,-0.000271944819321,2.12149158005e-05,1793250332341684224
+82,1.366666667,BASELINE,769,745,720.615169386,684,664.384830614,641,885.615169386,787.615169386,818.615169386,653.384830614,631.384830614,655.384830614,0.400970158334,0.00449631335134,0.0698307951201,0.999999961505,5.59497609553e-05,-0.000270951862514,2.10692575016e-05,1793250332358350336
+83,1.383333333,BASELINE,769,745,721,684.20325689,664.20325689,641,886,787.79674311,818.79674311,653,631,655.20325689,0.400969848074,0.00449653079187,0.0698308809609,0.999999961583,5.50821250278e-05,-0.000270861874556,2.08148111072e-05,1793250332375016448
+84,1.400000000,BASELINE,769,745,721,684.783051243,664.783051243,641,886,787.216948757,818.216948757,653,631,655.783051243,0.400968717334,0.00449687013488,0.0698296144358,0.999999961263,5.32374080958e-05,-0.000272444654318,2.03588325611e-05,1793250332391683072
+85,1.416666667,BASELINE,769,745,721,685,665,641,886,787,818,653,631.358962185,656,0.400969153122,0.00449728231973,0.0698293738496,0.999999961242,5.33485383383e-05,-0.000272504501566,2.02557053669e-05,1793250332408349696
+86,1.433333333,BASELINE,769,745,721,685,665,641,886,787,818,653,631.932551164,656,0.400970525553,0.00449773805738,0.0698297466819,0.999999961403,5.46290877227e-05,-0.00027165377335,2.03635512718e-05,1793250332425016576
+87,1.450000000,BASELINE,769.518567991,745,721,684.481432009,665,641,886,787,818,653,631.481432009,656,0.400971377928,0.00449762986661,0.0698309224567,0.999999961754,5.53334423402e-05,-0.000270182776055,2.07872504444e-05,1793250332441683200
+88,1.466666667,BASELINE,770,745.104394932,721,684.104394932,665,641.104394932,886,787,818.104394932,653,631.104394932,656,0.400971661545,0.00449743199829,0.069831702908,0.999999961933,5.58658533383e-05,-0.000269381795687,2.11434353875e-05,1793250332458350336
+89,1.483333333,BASELINE,770,745.681856529,721,684.681856529,665,641.681856529,886,787,818.681856529,653,631.681856529,656,0.400969681877,0.00449716829723,0.0698302070701,0.999999961224,5.59670493703e-05,-0.000271991568267,2.10029432284e-05,1793250332475016960
+90,1.500000000,BASELINE,769.740447485,745.740447485,721,685,665,642,886,787,818.740447485,653.259552515,631.740447485,656,0.400968895971,0.00449728483155,0.0698295356982,0.999999960873,5.66507319119e-05,-0.000273149500947,2.08264055842e-05,1793250332491683584
+91,1.516666667,BASELINE,769.162463981,745.162463981,721,685,665,642,886,787,818.162463981,653.837536019,631.162463981,656,0.400969574627,0.00449786785618,0.0698298758195,0.999999960968,5.80490357431e-05,-0.000272526249331,2.0605645688e-05,1793250332508350464
+92,1.533333333,BASELINE,769,745,721,684.586540876,665,642,886,787,818,653.586540876,631.413459124,656,0.400968681389,0.00449729176625,0.0698290726487,0.999999960788,5.61831765543e-05,-0.000273572100323,2.06566221639e-05,1793250332525016832
+93,1.550000000,BASELINE,769,745,721,684.011423318,665,642,886,787,818,653.011423318,631.988576682,656,0.400967173555,0.00449626247403,0.0698278224621,0.99999996049,5.30410619803e-05,-0.000275270553893,2.08138448587e-05,1793250332541683200
+94,1.566666667,BASELINE,769,745,721,684,665,641.420194725,886,787,818,653,631.420194725,656,0.400968428209,0.00449615748793,0.0698288855957,0.999999960842,5.30242648894e-05,-0.000274007932754,2.05987058527e-05,1793250332558350080
+95,1.583333333,BASELINE,769,745,721,684,664.832536964,641,885.832536964,787,818,653.167463036,631,656,0.400969900667,0.00449611406624,0.069830152187,0.999999961308,5.32332207652e-05,-0.00027226394813,2.05350282906e-05,1793250332575016448
+96,1.600000000,BASELINE,769,745,721,684,664.254435759,641,885.254435759,787,818,653.745564241,631,656,0.400971769932,0.00449617567648,0.0698318027255,0.999999962021,5.38404440845e-05,-0.000269486748499,2.08612546579e-05,1793250332591683328
+97,1.616666667,BASELINE,769,745,721,684.321612926,664.321612926,641,885,787,818,653.678387074,631.321612926,656,0.400971333121,0.00449611713512,0.0698314901813,0.999999961971,5.49252255662e-05,-0.000269435707988,2.11252237207e-05,1793250332608349696
+98,1.633333333,BASELINE,769,745,721,684.896048074,664.896048074,641,885,787,818,653.103951926,631.896048074,656,0.400969083486,0.00449596414173,0.0698296344437,0.999999961319,5.63854189012e-05,-0.000271527720844,2.13402518511e-05,1793250332625016064
+99,1.650000000,BASELINE,769,745,721,685,665,641,885.482427159,787,818.482427159,653,632,656,0.400970449553,0.00449735899113,0.069830538354,0.999999961531,5.81231268484e-05,-0.000270388000496,2.12266733238e-05,1793250332641682432
+100,1.666666667,BASELINE,769.07006512,745,720.92993488,685,664.92993488,641.07006512,886,787,818.92993488,653,631.92993488,656,0.40097221176,0.00449875849555,0.0698318407727,0.999999961858,5.94861562609e-05,-0.000268891064405,2.10453798569e-05,1793250332658349312
+101,1.683333333,BASELINE,769.64770518,745,720.35229482,685,664.35229482,641.64770518,886,787,818.35229482,653,631.35229482,656,0.400971056395,0.00449771422312,0.0698316129851,0.999999961673,5.76906964307e-05,-0.000269979097528,2.08995094528e-05,1793250332675016192
+102,1.700000000,BASELINE,770,745,720.225745072,685,664.225745072,641.774254928,886,787,818.225745072,653,631.225745072,656,0.400970398641,0.00449695138151,0.0698314942334,0.999999961639,5.59797250371e-05,-0.000270480470879,2.06946611866e-05,1793250332691682816
+103,1.716666667,BASELINE,770,745,720.804409989,685,664.804409989,641.195590011,886,787,818.804409989,653,631.804409989,656,0.400970518829,0.00449662851649,0.0698315459432,0.999999961845,5.44008392906e-05,-0.000270064686234,2.03976095578e-05,1793250332708349440
+104,1.733333333,BASELINE,769.618980762,745,721,685,665,641,886,787,819,653,632,656,0.400971875561,0.00449670255726,0.0698319956372,0.99999996227,5.39431514721e-05,-0.000268586722311,2.02714195558e-05,1793250332725015808
+105,1.750000000,BASELINE,769.043421042,745,721,685,665,641,886,787,819,653,632,656,0.400973863647,0.00449697924983,0.0698326485337,0.999999962805,5.40579238062e-05,-0.000266566431745,2.02324679126e-05,1793250332741682432
+106,1.766666667,BASELINE,769.542827981,745,721,685,664.457172019,641,886,787.542827981,818.457172019,653,632,656,0.400972877493,0.00449646449432,0.0698324139368,0.999999962677,5.23399545341e-05,-0.000267365868244,2.05229314525e-05,1793250332758349312
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,721,685,664,641,885,787,818,654,631,656,0.400971105227,0.00449729525217,0.06983102269,0.999999961512,5.64973868084e-05,-0.000270831381266,2.08490580777e-05,1793250332801243904
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,721,684.400289185,664.599710815,641,885.599710815,787,818.599710815,653.400289185,631.599710815,656,0.400970544435,0.00449791508973,0.0698312383415,0.999999961538,5.7647848293e-05,-0.000270482285248,2.09713585035e-05,1793250332817911552
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,886,787,819,653,631.810489335,656,0.400970377551,0.00449757193564,0.0698314753669,0.999999961668,5.71013850382e-05,-0.000270107098525,2.11170950565e-05,1793250332834578432
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,886,787,819,653,631.24058317,656,0.400971001338,0.00449529581561,0.0698317552951,0.999999961997,5.31487678663e-05,-0.000269679541138,2.13098738246e-05,1793250332851244800
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,886,787,819,653,631,655.655223018,0.400971447221,0.00449502307297,0.0698320411168,0.999999962289,5.23130272351e-05,-0.000268764750185,2.12389996977e-05,1793250332867920384
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,886,787,819,653,631,655.058573166,0.400971763138,0.00449621387484,0.069832331244,0.999999962559,5.37542852391e-05,-0.00026749401637,2.09755169618e-05,1793250332884602880
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.521387034,745,720.478612966,684,665,641,885.478612966,787,819,653,631,655.521387034,0.400970619764,0.00449672435402,0.0698314633659,0.999999962023,5.42156708415e-05,-0.00026941339952,2.0772451205e-05,1793250332901257728
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.901080069,745.098919931,720.098919931,684,665,641,885.098919931,787,818.901080069,653,631.098919931,656,0.400969646645,0.00449697302623,0.0698307822363,0.999999961496,5.44927341038e-05,-0.000271310226937,2.0708655059e-05,1793250332917912064
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.326483022,745.673516978,720.673516978,684,665,641,885.673516978,787,818.326483022,653,631.673516978,656,0.400970256113,0.00449631886623,0.0698316052938,0.999999961457,5.43963683388e-05,-0.000271428693723,2.12829400511e-05,1793250332934578432
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745.745752066,721,684.254247934,665,641,886,787,818,653,632,656,0.400976022254,0.00449610567045,0.0698342968178,0.999999962504,5.42027454662e-05,-0.000267580522687,2.1302147363e-05,1793250332951244800
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.156949798,721,684.843050202,665,641,886,787,818,653,632,656,0.400988573844,0.00449647272128,0.0698394469793,0.999999964922,5.38811459957e-05,-0.000258512817112,2.05909508862e-05,1793250332967911680
+118,1.966666667,POSE1_TO_POSE2_PRESS,769.423646508,745.423646508,721,684.576353492,665,641,885.576353492,787,818,653,632,656,0.40101936918,0.00449553383564,0.0698520920886,0.999999970437,5.373943092e-05,-0.000236226496923,2.08488132645e-05,1793250332984578048
+119,1.983333333,POSE1_TO_POSE2_PRESS,769.998740943,745.998740943,721,684.001259057,665,641,885,787,818,653,632,656,0.401056838034,0.00449412808088,0.0698674611456,0.999999976459,5.36657495305e-05,-0.000209145761434,2.14559212939e-05,1793250333001244416
+120,2.000000000,POSE1_TO_POSE2_PRESS,769.421806034,745.421806034,721,684.578193966,665,641,885,787,818,653,632,656,0.401114023133,0.00449626698631,0.0698828433344,0.999999980894,5.48072201145e-05,-0.000186490468491,2.07173337287e-05,1793250333017911040
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,721,684.845578973,665,641,885.154421027,787,818,653,631.845578973,655.845578973,0.401173538181,0.00449779460858,0.069895857953,0.999999984195,5.50542395568e-05,-0.000167876132464,1.9920623002e-05,1793250333034577920
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,721,684.271276469,665,641,885.728723531,787,818,653,631.271276469,655.271276469,0.401239388534,0.00449766011006,0.0699024349876,0.999999985583,5.28691846608e-05,-0.000160249433575,1.89658712295e-05,1793250333051244544
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,684.311338814,665,641.311338814,886,787,818,653,631.311338814,655.311338814,0.401315298836,0.0044977343057,0.0699051125639,0.999999986212,5.12733381102e-05,-0.000156965538806,1.75789624391e-05,1793250333067911424
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,684.901395869,665,641.901395869,886,787,818,653,631.901395869,655.901395869,0.40140021505,0.00449799532956,0.0699042992477,0.999999986201,5.020496564e-05,-0.000157569430628,1.58051760094e-05,1793250333084578048
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,684.516929905,665,641.516929905,886,787.483070095,818,653,632,656,0.401502608361,0.00449934777548,0.0699034980665,0.999999986048,4.90039733827e-05,-0.000159140790343,1.32723281218e-05,1793250333101244416
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,721,684.06204379,665,641,885.93795621,787.93795621,818,653,632,656,0.401611042354,0.00450073583189,0.0699025895958,0.999999985839,4.73336632635e-05,-0.000161153301135,1.05655946257e-05,1793250333117911296
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,721,684.632667792,665,641,885.367332208,787.367332208,818,653,632,656,0.401740248759,0.00450062078094,0.0699007817037,0.999999985443,4.2034413211e-05,-0.000165190829896,7.68189317153e-06,1793250333134577920
+128,2.133333333,POSE1_TO_POSE2_PRESS,769.206124722,745,720.793875278,684.793875278,665,641,885.206124722,787,818,653,632,656,0.401884928601,0.00450040327833,0.0699014094551,0.999999985715,3.67798242e-05,-0.000164914091663,4.54981333598e-06,1793250333151244288
+129,2.150000000,POSE1_TO_POSE2_PRESS,769.784700467,745,720.215299533,684.215299533,665,641,885.784700467,787,818,653,632,656,0.402057567701,0.00450000065373,0.069906438221,0.9999999872,3.16059347239e-05,-0.000156841814709,9.68933777568e-07,1793250333167910912
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,745,720.372497712,684.372497712,665,641.372497712,886,787,818.372497712,653.372497712,632,656,0.402251862632,0.00450079655025,0.0699112193382,0.999999988566,2.79374274446e-05,-0.000148585299769,-3.06747879981e-06,1793250333184577536
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,745,720.965760234,684.965760234,665,641.965760234,886,787,818.965760234,653.965760234,632,656,0.402458992142,0.00450230276327,0.0699158536842,0.999999989826,2.51611007578e-05,-0.000140219593414,-7.37386830403e-06,1793250333201244160
+132,2.200000000,POSE1_TO_POSE2_PRESS,769.475691794,745,721,685,665,642,886,787,818.475691794,653.475691794,632,656,0.402695126539,0.00450462457888,0.069917825509,0.999999990765,1.93683321491e-05,-0.000133918396217,-1.26455376755e-05,1793250333217911040
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.086607517,721,685,665,641.913392483,886,787,818,653,632,656,0.402938105192,0.00450696788275,0.0699195860206,0.999999991539,1.34066307448e-05,-0.000128132800692,-1.8019979614e-05,1793250333234577664
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.683540039,721,685,665,641.316459961,886,787,818,653,632,656,0.403210944954,0.00450914344996,0.0699210623103,0.999999991924,7.5381576033e-06,-0.000124640236139,-2.3651625436e-05,1793250333251244288
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.723085086,721,685,665,641.276914914,886,787.276914914,818,653,632,656,0.40351245593,0.00451012621838,0.0699280530455,0.999999993301,6.68660540434e-07,-0.00011203183503,-2.90950835754e-05,1793250333267910912
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.133724372,721,685,665,641.866275628,886,787.866275628,818,653,632,656,0.403846316899,0.00450976314016,0.0699412657831,0.999999995411,-7.33030122747e-06,-8.91379467683e-05,-3.43262073679e-05,1793250333284577536
+137,2.283333333,POSE1_TO_POSE2_PRESS,769.446562092,745,721,685,665,642,886,787.553437908,818,653,632,656,0.404195523863,0.00451035422743,0.0699472131259,0.999999995807,-1.3745580671e-05,-8.15661792955e-05,-3.9304874781e-05,1793250333301244160
+138,2.300000000,POSE1_TO_POSE2_PRESS,769.975801389,745,721,685.024198611,665,642,886,787,818,653,632,656,0.404551357263,0.00451065344712,0.0699511536026,0.999999995804,-1.92603719238e-05,-7.81001336659e-05,-4.38337754322e-05,1793250333317910784
+139,2.316666667,POSE1_TO_POSE2_PRESS,769.397861472,745,721,685.602138528,665,642,886,787,818,653,632,656,0.40495576153,0.00449786566162,0.0699579647607,0.999999996943,-1.48050885303e-05,-6.56831912678e-05,-3.9766070758e-05,1793250333334577152
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,720.82103896,686,665,641.82103896,886,787,818,653,631.82103896,656,0.405365874352,0.0044876758512,0.0699617179819,0.999999997716,1.36045453489e-06,-5.85558332926e-05,-3.3728986454e-05,1793250333351244032
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,720.246685296,686,665,641.246685296,886,787,818,653,631.246685296,656,0.405788599473,0.00448322595207,0.0699587150628,0.999999996794,4.33983897717e-05,-6.31151695676e-05,-2.3340798181e-05,1793250333367910912
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.337710037,720.337710037,685.662289963,665,641,886,787.337710037,818,653,631.337710037,656,0.406234552315,0.00449000528251,0.0699494833131,0.999999993842,7.44086359301e-05,-7.94027548958e-05,-2.17778528233e-05,1793250333384577536
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.929665309,720.929665309,685.070334691,665,641,886,787.929665309,818,653,631.929665309,656,0.406697992206,0.00450523854568,0.0699355621835,0.999999989461,9.71166831992e-05,-0.00010451996106,-2.68589965685e-05,1793250333401244160
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,746,721,685.508828747,665,641,886,787.491171253,818,653,631.491171253,656,0.407207067269,0.00450728450985,0.0699221776547,0.999999991884,3.03890506182e-05,-0.000120268039693,-2.90604038607e-05,1793250333417911040
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.91400502,721,686.08599498,665,641,886.08599498,787,818,653,631.08599498,656,0.407734601991,0.00450902673419,0.0699130430956,0.999999990591,-3.83946348604e-05,-0.000127973740449,-3.10955022001e-05,1793250333434577408
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.338389323,721,686.661610677,665,641,886.661610677,787,818,653,631.661610677,656,0.408332203836,0.00451916370951,0.0699276941851,0.999999993435,-5.02233322778e-05,-9.70822413548e-05,-3.43945307291e-05,1793250333451244288
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.242176674,721,687,665.242176674,641.242176674,887.242176674,787.242176674,818,653,631.757823326,656,0.408937223261,0.00452753316301,0.0699408574361,0.999999996115,-4.3561667072e-05,-6.73216703431e-05,-3.66002273114e-05,1793250333467911168
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.829803944,721,687,665.829803944,641.829803944,887.829803944,787.829803944,818,653,631.170196056,656,0.409552823387,0.00453338135132,0.0699518983731,0.999999998484,-1.05246005691e-05,-3.91743027271e-05,-3.72463508125e-05,1793250333484578816
+149,2.483333333,POSE1_TO_POSE2_PRESS,769.410740611,746,721,687,665.589259389,642,888,788,818,653,631,656.410740611,0.410186487709,0.00453962467997,0.0699486789312,0.999999998074,1.88233126065e-05,-4.46396820951e-05,-3.87901615336e-05,1793250333501245440
+150,2.500000000,POSE1_TO_POSE2_PRESS,769.988949356,746,721,687,665.011050644,642,888,788,818,653,631,656.988949356,0.410827517194,0.00454602911604,0.0699396452138,0.999999996047,4.66670746384e-05,-6.38097308147e-05,-4.0699979376e-05,1793250333517911808
+151,2.516666667,POSE1_TO_POSE2_PRESS,769.434690993,745.434690993,721,687.565309007,665,642,888,787.434690993,818,653,631,656.434690993,0.411516392917,0.00455610984613,0.0699439401177,0.999999994986,6.9205434359e-05,-5.93010610446e-05,-4.14993461913e-05,1793250333534577920
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,745.134205787,721,688,665.134205787,642,887.865794213,787.134205787,818,653,631.134205787,656,0.412223024867,0.00456436148659,0.0699563732831,0.999999994932,8.16433304421e-05,-4.11577109677e-05,-4.21517672576e-05,1793250333551244288
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,745.680308408,721,688,665.680308408,642,887.319691592,787.680308408,818,653,631.680308408,656,0.412981291893,0.00456677954424,0.0699929868907,0.999999996939,6.33987113518e-05,1.74164446341e-05,-4.24195954219e-05,1793250333567911168
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,721,688,666,642,887,787.741247345,818.258752655,653,631.741247345,656,0.413740292927,0.0045722648357,0.0700175568393,0.999999995437,6.46445923273e-05,5.5839191674e-05,-4.27782225811e-05,1793250333584577792
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,721,688,666,642,887,787.117136745,818.882863255,653,631.117136745,656,0.414500330487,0.00458208105213,0.0700251211841,0.999999992536,9.34109964674e-05,6.58082209494e-05,-4.32650578286e-05,1793250333601244416
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.531206492,746,721,688.468793508,666,642,887.468793508,787,818.531206492,653,631,656,0.415239062944,0.00459139013161,0.0699779001093,0.999999992431,0.000113217846918,-1.84727364571e-05,-4.44807347788e-05,1793250333617911040
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.045917099,746,721,689,666,642,888,787.045917099,818.045917099,653,631,656,0.415980634898,0.00460024417685,0.0699218518001,0.999999983823,0.000128462604502,-0.000117218454108,-4.59444509612e-05,1793250333634577664
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.623214014,746,721,689,666,642,888,787.623214014,818.623214014,653,631,656,0.416812034544,0.00460518831543,0.0699101378567,0.999999983609,0.000114868719135,-0.000131348010899,-4.83298113199e-05,1793250333651244544
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,721,689.199812296,666.399624592,642,888,787.800187704,819,653,631,656,0.417658315119,0.00461126930905,0.0699146752086,0.999999984669,0.000115734248691,-0.000121701113679,-4.9562311216e-05,1793250333667911168
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,721,689.775097722,667.550195445,642,888,787.224902278,819,653,631,656,0.418532558833,0.00461948659997,0.0699497508455,0.999999986213,0.000143770888447,-6.73751850257e-05,-4.86284370504e-05,1793250333684577536
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,721,690,667.278464632,642,888,787.360767684,819,653.360767684,631,656.360767684,0.419416991425,0.00462404185216,0.0699784747101,0.9999999879,0.000145642669859,-2.47741194975e-05,-4.87243768838e-05,1793250333701244160
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721,690,666.093793602,642,888,787.953103199,819,653.953103199,631,656.953103199,0.420307963973,0.00462624653219,0.0700031215281,0.999999990179,0.000130719876454,1.03010449644e-05,-4.94813288489e-05,1793250333717911040
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721,690,666.531351187,642,888.531351187,788,819.531351187,654,631,656.468648813,0.421243927997,0.00461749312135,0.070019892688,0.999999990111,0.000126301461186,3.5088719104e-05,-5.09349386632e-05,1793250333734577408
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721,690.10798398,666.89201602,642,889,788,820,653.89201602,631,656.10798398,0.422163360088,0.00460474193572,0.0700227825938,0.999999990893,0.000118602288774,3.78518601707e-05,-5.20993496496e-05,1793250333751244032
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,690.682870013,666.317129987,642,889,788,820,653.317129987,631,656.682870013,0.422994584922,0.00457877892994,0.0699685804721,0.999999993064,9.28126341945e-05,-5.07903826797e-05,-5.17543295403e-05,1793250333767910912
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889,787.736108545,820,653,631,656.736108545,0.423826312584,0.00456733411331,0.0699049088936,0.99999998555,6.80091746671e-05,-0.000146358041337,-5.34254997443e-05,1793250333784578048
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889,787.147538329,820,653,631,656.147538329,0.424658659013,0.00457375174232,0.0698295865648,0.999999965994,4.44190765408e-05,-0.000250446394402,-5.75772889579e-05,1793250333801244928
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,721,691,666.433341536,642,889,787.433341536,820.433341536,653.433341536,631,656.433341536,0.425617770764,0.00458118553074,0.0698537702582,0.999999974847,6.46431362043e-05,-0.000207062359659,-5.70336309276e-05,1793250333817911296
+169,2.816666667,POSE1_TO_POSE2_PRESS,769.011650315,746,721,691,667,642,889,788,820.988349685,653.988349685,631,656.988349685,0.42661958927,0.00458883123259,0.0699112971684,0.999999987026,9.88567790969e-05,-0.000114709992554,-5.49283306253e-05,1793250333834577664
+170,2.833333333,POSE1_TO_POSE2_PRESS,769.590036962,746,721,691,667,642,889,788,820.409963038,653.409963038,631,656.409963038,0.427636003011,0.00459024924244,0.0699715232313,0.999999992716,0.000100596692902,-4.01413891724e-05,-5.3266930074e-05,1793250333851244288
+171,2.850000000,POSE1_TO_POSE2_PRESS,769.833037515,746,721,691,666.833037515,642,889,787.833037515,820,653,631,656,0.428640278575,0.00459247646524,0.0700216374492,0.999999993182,0.000100764879702,2.69531257545e-05,-5.25052568004e-05,1793250333867911168
+172,2.866666667,POSE1_TO_POSE2_PRESS,769.259668575,746,721,691,666.259668575,642,889,787.259668575,820,653,631,656,0.42961500832,0.00459667340807,0.0700471382355,0.999999990954,9.71072977919e-05,7.58548195711e-05,-5.39336268779e-05,1793250333884577792
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889,787.322154848,820,653.322154848,631,656.322154848,0.43051842222,0.0045987024673,0.0700316798276,0.999999992145,9.97364230268e-05,5.25685843412e-05,-5.4757927826e-05,1793250333901244416
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889,787.910976524,820,653.910976524,631,656.910976524,0.431362803683,0.00459893703947,0.0699823170448,0.999999992233,0.000107569431383,-3.04719178789e-05,-5.50822043572e-05,1793250333917911296
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,721,691.493423139,666,642,889,788,820,654,631.493423139,657,0.432213731416,0.00459305447722,0.069914086859,0.999999983072,0.000100715206187,-0.000143272849944,-5.64433409017e-05,1793250333934578176
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,721,692.073931148,666,642,889,787.926068852,820.073931148,653.926068852,631.926068852,656.926068852,0.433086894757,0.00458580935366,0.0698591714458,0.999999967275,9.03968355184e-05,-0.000232253779432,-5.77676026149e-05,1793250333951245056
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,721,692.648995246,666,642,889,787.351004754,820.648995246,653.351004754,631.351004754,656.351004754,0.43410287527,0.00457671384308,0.0699172882464,0.999999987911,7.43299243904e-05,-0.00012384234536,-5.75900569168e-05,1793250333967911424
+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746,721,692.777205208,666.445589584,642,889,787.222794792,821,653.222794792,631.222794792,656,0.435087995041,0.00457257043276,0.069969928621,0.999999995589,6.75957868682e-05,-3.11277069726e-05,-5.73016094827e-05,1793250333984578048
+179,2.983333333,POSE1_TO_POSE2_PRESS,769,746,721,692.205386586,667.589226828,642,889,787.794613414,821,653.794613414,631.794613414,656,0.436024769427,0.00457618483702,0.0700139897951,0.999999994851,7.54820989927e-05,3.69968038025e-05,-5.68394272773e-05,1793250334001244672
+180,3.000000000,POSE1_TO_POSE2_PRESS,769,746,721,692.381248237,667.237503525,642,889,787.618751763,820.618751763,653.618751763,632,656,0.436926731814,0.00457699569072,0.0700268147718,0.999999993194,7.94418527269e-05,6.33968839557e-05,-5.72810507852e-05,1793250334017911296
+181,3.016666667,POSE1_TO_POSE2_PRESS,769,746,721,692.976187564,666.047624871,642,889,787.023812436,820.023812436,653.023812436,632,656,0.437809181886,0.00457623514344,0.070022131738,0.999999992803,8.12007551925e-05,6.64102578299e-05,-5.82292609668e-05,1793250334034577664
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,721,692.444407979,666,642,889,787,820.555592021,653,632,656.555592021,0.438618653482,0.0045777182573,0.0699698843632,0.999999995583,7.26595764808e-05,-6.6103278449e-06,-5.92470261706e-05,1793250334051244800
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,721,692.132829927,666,642,889,787.132829927,821.132829927,653,632,657,0.439410869535,0.00458071309298,0.0699113490159,0.999999991312,6.99307906827e-05,-9.43384760262e-05,-5.98789909704e-05,1793250334067911680
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,721,692.705043671,666,642,889,787.705043671,821.705043671,653,632,657,0.440156071503,0.00458839906412,0.0698385738456,0.999999970137,8.78491936468e-05,-0.000220230877489,-5.92251865922e-05,1793250334084578560
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746.28561817,721.28561817,693,666,642,889.28561817,788,822,653.28561817,632,656.71438183,0.440923840768,0.00459575957854,0.0698153256273,0.999999958726,0.000105054310619,-0.000260815945908,-5.90526837244e-05,1793250334101245184
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746.875087103,721.875087103,693,666,642,889.875087103,788,822,653.875087103,632,656.124912897,0.441715617881,0.00460277386004,0.0698447659455,0.999999968669,0.000121500608444,-0.000210648035698,-5.93922072016e-05,1793250334117911808
+187,3.116666667,POSE1_TO_POSE2_PRESS,769,746.540954214,721.540954214,693,666,641.540954214,890,787.540954214,822,653.540954214,632,656,0.442539325802,0.00460995107221,0.0698773408264,0.999999977765,0.000116237259885,-0.000165710164787,-5.91607364671e-05,1793250334134578176
+188,3.133333333,POSE1_TO_POSE2_PRESS,769,746,721,693.040961992,665.918076016,641,889.959038008,787,822,653,632,656,0.443362506707,0.00461723862745,0.0699066051584,0.999999984213,0.000107431286706,-0.000128784530019,-5.87186754818e-05,1793250334151244288
+189,3.150000000,POSE1_TO_POSE2_PRESS,769,746,721,693.615571019,664.768857961,641,889.384428981,787,822,653,632,656,0.444066966742,0.00462539296058,0.069881759669,0.999999974258,0.000128521767707,-0.000177920304553,-5.75332780398e-05,1793250334167910912
+190,3.166666667,POSE1_TO_POSE2_PRESS,769,746,721,693.805872815,664,640.805872815,889.194127185,787,822,653,632,656,0.444755253626,0.00463243354365,0.0698491048284,0.999999960183,0.000146687527695,-0.000234251369467,-5.69404809311e-05,1793250334184577536
+191,3.183333333,POSE1_TO_POSE2_PRESS,769,746,721,693.219337819,664,640.219337819,889.780662181,787,822,653,632,656,0.445410848303,0.00463722279889,0.0698006641964,0.999999939162,0.000158941273849,-0.000305126970816,-5.7545563317e-05,1793250334201244928
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746,720.63764476,693.36235524,663.63764476,640,890,787,822,653,632,656,0.446051198894,0.00464193179824,0.0697668774462,0.999999921881,0.0001686576622,-0.000352767743658,-5.78612296463e-05,1793250334217911808
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,746,720.05884397,693.94115603,663.05884397,640,890,787,822,653,632,656,0.446682443699,0.00464659285805,0.0697418438977,0.999999907976,0.000176858410792,-0.000386529659185,-5.80040191956e-05,1793250334234578432
+194,3.233333333,POSE1_TO_POSE2_PRESS,769,746,720,694,662.479700792,640,889.479700792,787,822,653,632,656.520299208,0.447255027561,0.00465104550486,0.0697150016018,0.999999883749,0.000185803435184,-0.000441217076779,-5.74981683781e-05,1793250334251245056
+195,3.250000000,POSE1_TO_POSE2_PRESS,769,746.098676221,720.098676221,694,662,639.901323779,889.098676221,786.901323779,822.098676221,653.098676221,631.901323779,656.901323779,0.447823170935,0.00465537531634,0.0696914429003,0.999999859586,0.000194841250274,-0.000489520584905,-5.6874054257e-05,1793250334267911424
+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746.6731719,720.6731719,694,662,639.3268281,889.6731719,786.3268281,822.6731719,653.6731719,631.3268281,656.3268281,0.448401914182,0.00465922654606,0.0696847048401,0.999999854818,0.000203920345872,-0.000495621389257,-5.60336435548e-05,1793250334284577792
+197,3.283333333,POSE1_TO_POSE2_PRESS,769,746.747132935,721,694,661.747132935,639,890,786.252867065,822.747132935,654,631,656.252867065,0.448976377672,0.0046636473996,0.0696909266414,0.999999858947,0.000211790578789,-0.000483838832022,-5.61277630598e-05,1793250334301244416
+198,3.300000000,POSE1_TO_POSE2_PRESS,769,746.160576451,721,694,661.160576451,639,890,786.839423549,822.160576451,654,631,656.839423549,0.449545193448,0.00466881994203,0.069714250586,0.999999874016,0.000218065566744,-0.000448456962683,-5.74551109761e-05,1793250334317911040
+199,3.316666667,POSE1_TO_POSE2_PRESS,769.420272388,746,720.579727612,693.579727612,660.579727612,639,890,787,822.420272388,654,631.420272388,656.579727612,0.450061535135,0.00466906767761,0.0697229914061,0.99999988026,0.000217681008111,-0.000434377357395,-5.84031006564e-05,1793250334334577920
+200,3.333333333,POSE1_TO_POSE2_PRESS,769.998969734,746,720.001030266,693.001030266,660.001030266,639,890,787,822.998969734,654,631.998969734,656.001030266,0.450558096352,0.00466745896923,0.0697262350055,0.999999883448,0.000214786081981,-0.000428327804038,-5.92080884133e-05,1793250334351244800
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+206,3.433333333,POSE1_TO_POSE2_PRESS,769.518063378,747,720.481936622,694.481936622,657.518063378,638,890,787,823,653.518063378,631.481936622,656,0.4528025293,0.00468898638376,0.0695769294891,0.999999779036,0.000185364877509,-0.000635052483864,-6.538656831e-05,1793250334451244544
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+208,3.466666667,POSE1_TO_POSE2_PRESS,769,746.363751187,721,694.363751187,657,638,889.363751187,787,823,653.636248813,631.363751187,656,0.453416710651,0.00470337880418,0.0695835457126,0.999999788397,0.000145153863353,-0.000629994592143,-7.24059045979e-05,1793250334484577536
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+214,3.566666667,POSE1_TO_POSE2_PRESS,769.12039934,746,720.12039934,694,655,637,890,786,823.12039934,654,632,656,0.454690811684,0.00474462231648,0.0695534629503,0.999999724874,0.000271249593639,-0.000687494711626,-6.3448568559e-05,1793250334584577792
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+262,4.366666667,HOLD_POSE2,770,746,720.457345473,694,653.457345473,636.457345473,890.542654527,786,823,653.542654527,631.457345473,657,0.455654115612,0.00475356272877,0.0695239202953,0.999999681174,0.000283230103289,-0.000743821843623,-6.45078180857e-05,1793250335400995584
+263,4.383333333,HOLD_POSE2,769.881116183,746,720,694,653,636.118883817,890.881116183,786,823,654,631,656.881116183,0.455654361419,0.00475287061235,0.0695243727952,0.99999968102,0.000284272332473,-0.000743667448103,-6.40967827173e-05,1793250335417662208
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,746,721,694.416858028,653.583141972,637,890,786,823.416858028,654,632,656.416858028,0.455652966064,0.00475411675378,0.0695228853335,0.999999679084,0.00028545323527,-0.000745797535073,-6.43067210695e-05,1793250335488258048
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.739523966,746.739523966,720.260476034,694,653.260476034,637,890,786,823,654,631.260476034,656.739523966,0.455653881731,0.0047535652604,0.0695241116777,0.99999968051,0.000285030370789,-0.000744023129563,-6.45554583365e-05,1793250335521591808
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.524326398,746.475673602,721,694,653,636,890,786,823,654,632,656.475673602,0.45565444476,0.00475449292103,0.0695250204,0.99999968074,0.000287572848769,-0.00074278412115,-6.39818600743e-05,1793250335571591936
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,746.936298594,720.936298594,694.063701406,653,636,890,786,823,654,631.936298594,656.936298594,0.455655698976,0.00475249895066,0.0695256213519,0.999999682093,0.000285131870969,-0.000741925761284,-6.37223958953e-05,1793250335588258048
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,769.015642364,746,720,692,663,640,889,787,819.015642364,653,631,656,0.441794607326,0.00462027166795,0.0697550480738,0.999999921622,6.71176818951e-05,-0.000389589204089,2.1726397358e-05,1793250336304925184
+316,5.266666667,POSE2_TO_POSE3_RETREAT,769.5946328,746,720,692,663,640,889,787,819.5946328,653,631,656,0.44101154503,0.00461010979712,0.0697805017375,0.999999922029,0.000213574886692,-0.000331291380824,2.39459661693e-05,1793250336321591808
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769.653976449,746,720.173011776,692,663.346023551,640.173011776,889,787,820,653,631,656,0.440211097765,0.00460180545885,0.06979917594,0.999999910368,0.00030634409372,-0.000291140806471,2.55863122801e-05,1793250336338258176
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768.324630622,746,721,692,665,641,888.675369378,787,820,653,631,656,0.438487625988,0.00459368082316,0.0697700406138,0.999999910686,0.000241995812925,-0.000345560890525,2.55493516335e-05,1793250336371591680
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.897551359,746,721,692,665,641,888.102448641,787,820,653,631,656,0.43757352813,0.00458937854615,0.0697114223947,0.999999882422,0.000210845687128,-0.000435990801142,2.47555597585e-05,1793250336388258304
+321,5.350000000,POSE2_TO_POSE3_RETREAT,769,746,721,692,664.515189288,641,888.484810712,787.484810712,820,653,631,656,0.436715792525,0.00458075048756,0.069714881984,0.999999892084,0.000179723379277,-0.000427601531079,2.62442140542e-05,1793250336404924928
+322,5.366666667,POSE2_TO_POSE3_RETREAT,769,746,721,692,664,641,888.926111015,788,819.926111015,653.073888985,631,656,0.435865108196,0.00457231035313,0.0697368558593,0.999999911387,0.000150326339683,-0.000392215034914,2.82002690968e-05,1793250336421591808
+323,5.383333333,POSE2_TO_POSE3_RETREAT,769,746,721,692,664,641,888.345963538,788,819.345963538,653.654036462,631,656,0.434978645163,0.00457161181498,0.0697930631229,0.999999939772,0.000132708676375,-0.000319290998936,2.99533913278e-05,1793250336438258432
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.76741255,746,721,692,664.23258745,641,888,787.76741255,819,653.76741255,631,656,0.434088604331,0.00456892619807,0.0698318661434,0.99999995528,0.000128119472219,-0.000268412101008,3.13144105038e-05,1793250336454924800
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.191219994,746,721,692,664.808780006,641,888,787.191219994,819,653.191219994,631,656,0.433193277831,0.00456330503827,0.0698449576096,0.999999958017,0.000142777414363,-0.000250100824171,3.20961701042e-05,1793250336471591424
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.392280208,746,721,692,665,641,888,787,819,653,631,656,0.43229793196,0.00455649043573,0.0698543460165,0.999999963598,0.000132953153032,-0.000232495563312,3.2771966278e-05,1793250336488258048
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,769,746,721,691.442484083,665.557515917,641,888.557515917,787,819,653,630.442484083,656,0.430353551144,0.00454658475593,0.0697772093418,0.999999929826,0.000115257575731,-0.000354901034127,3.32928423716e-05,1793250336521591552
+329,5.483333333,POSE2_TO_POSE3_RETREAT,769,746,721,691,665.728622898,641,888.864311449,787,819,653,630.135688551,656,0.429327381841,0.00454247938581,0.0697132828598,0.999999887606,0.000115893984028,-0.000458550917015,3.29781021689e-05,1793250336538258176
+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,746,721,691,664.569694967,641,888.284847484,787,819,653,630.715152516,656,0.428394229881,0.00453253445628,0.0697282136218,0.999999903696,0.00010146061519,-0.000425776829046,3.20547541371e-05,1793250336554924800
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746,720.708842134,691,664.291157866,641.291157866,888,787.291157866,819.291157866,653,631,656,0.427499209568,0.0045250332494,0.0697727164675,0.999999933121,8.95854265198e-05,-0.000353082041241,3.26337901576e-05,1793250336571591424
+332,5.533333333,POSE2_TO_POSE3_RETREAT,769,746,720.136180752,691,664.863819248,641.863819248,888,787.863819248,819.863819248,653,631,656,0.426641056569,0.00451989473566,0.0698458108312,0.999999966953,8.01835927435e-05,-0.000241790261621,3.46653932553e-05,1793250336588258048
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.551258919,746,720.448741081,690.551258919,664.551258919,641.551258919,887.551258919,787.551258919,819.551258919,653,631,656,0.425749284755,0.00451278473881,0.0698646538352,0.999999971706,7.97018198801e-05,-0.000221164158906,3.63474995138e-05,1793250336604924672
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.036816397,746,721,690,664,641,887.073632794,787.036816397,819,653,631,656,0.424843278703,0.00450498331364,0.0698640754943,0.999999969187,8.05369978244e-05,-0.000231774814985,3.76908171562e-05,1793250336621591552
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.615013106,746,721,690,664,641,888.230026212,787.615013106,819,653,631,656,0.423882200126,0.00449605945964,0.0698268074646,0.999999956748,5.98136026743e-05,-0.000285754787664,3.565573842e-05,1793250336638258176
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,721,689.806873185,664,641,888.806873185,787.806873185,819,653,631,656,0.422892299812,0.0044888452715,0.0697756775498,0.999999930118,4.5904397105e-05,-0.000369384706843,3.47956907055e-05,1793250336654924800
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.652229801,746,721,689,664,641,887.652229801,787,819,653,631,656,0.420930004848,0.00447781814867,0.069687434897,0.999999861581,4.27963976828e-05,-0.00052316944916,3.60690405249e-05,1793250336688258048
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.076357035,746,721,689,664,641,887.076357035,787,819,653,631,656,0.420101858788,0.0044683605947,0.0697233702584,0.999999898349,3.84158921776e-05,-0.000447904659825,3.47531085926e-05,1793250336704924672
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.50963217,746,721,689,664.50963217,641,887.50963217,787,819,653,631,656,0.419334623881,0.00446039807512,0.0697983830501,0.999999944245,1.59800412316e-05,-0.000331717605723,3.49126003624e-05,1793250336721591552
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,769,746,721,688.321523372,664.321523372,641,887.321523372,787,819,653,631,656,0.417710338312,0.00444491362912,0.0698734449971,0.999999973748,-1.37751210068e-05,-0.000225433821228,3.86497082466e-05,1793250336754924800
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769.256897055,746,721,687.743102945,664.51379411,641,886.743102945,787,819,653,631,656,0.416854293294,0.00443683290193,0.0698592017553,0.999999969894,-1.4048284186e-05,-0.000241835193949,3.91212123098e-05,1793250336771591680
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769.830664774,746,721,687.169335226,665.661329548,641,886.169335226,787,819,653,631,656,0.415991992265,0.00442834192281,0.0698194844723,0.99999995933,-5.42239669642e-06,-0.00028279691481,3.65590177924e-05,1793250336788258304
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769.594229681,746,720.594229681,687,665.188459362,641,886.405770319,787,819,653.405770319,631,656,0.415142481338,0.00442310840758,0.0697864430088,0.999999942264,-1.89587772477e-05,-0.000337402731159,3.56604342686e-05,1793250336804924672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769.018563942,746,720.018563942,687,664.037127883,641,886.981436058,787,819,653.981436058,631,656,0.414298325533,0.00441923878684,0.0697561966974,0.999999919408,-4.17744651898e-05,-0.000397721312142,3.54584018299e-05,1793250336821591296
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,720.571159363,687,664.571159363,641,887,787,819,652.857681274,631,656,0.413545971801,0.00443003609982,0.0697525106285,0.999999915066,-2.57861601335e-05,-0.000409642738544,3.73689074775e-05,1793250336838258176
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745.262522629,721,687,664.262522629,641,886.262522629,787,818.262522629,652.737477371,631,655.262522629,0.412189524386,0.00447735847106,0.0698235137305,0.999999961121,3.92125589161e-05,-0.000273919031928,3.44787988724e-05,1793250336871591424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745.314323683,721,686.685676317,664.314323683,641,886.314323683,787,818.314323683,653,631,655.314323683,0.411534598743,0.00448518400761,0.0698635566101,0.999999977804,4.4473426347e-05,-0.000203169833592,3.37175294344e-05,1793250336888258304
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745.889263167,721,686.110736833,664.889263167,641,886.889263167,787,818.889263167,653,631,655.889263167,0.410865365665,0.00447402484838,0.069889243361,0.999999985237,1.99501304884e-05,-0.000167010254037,3.5144075743e-05,1793250336904924928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769.46468225,745.53531775,720.53531775,686.46468225,664.53531775,641,887,787,819,653.46468225,631,656,0.410179976466,0.00446484410639,0.0698620074041,0.999999975688,2.11460578998e-05,-0.000216650044471,3.52125816216e-05,1793250336921591552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769.95851253,745.04148747,720.04148747,686.95851253,664,641,887,787,819,653.95851253,631.04148747,656,0.409494781945,0.00445692386396,0.0698222355558,0.999999958007,2.72926546382e-05,-0.000286401208493,3.48717215251e-05,1793250336938258176
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787,818,653,631.089084238,655.089084238,0.40247120377,0.00445824820074,0.0698118116077,0.999999950889,-3.96955877188e-05,-0.000309555722336,2.86773889332e-05,1793250337221591808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787,818,653,631,655.499086946,0.402258713837,0.00445777499808,0.0698042111886,0.999999946886,-3.80060860585e-05,-0.000322277253059,3.0340832773e-05,1793250337238258432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.91221229,664,641,886,787,818,653,631,656,0.402058532722,0.00445743966358,0.069798126289,0.999999943547,-3.48567265382e-05,-0.000332642671939,3.22610966023e-05,1793250337254925056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.333277061,664,641,886,787,818,653,631,656,0.40189792803,0.00445847608684,0.0698007090694,0.99999994544,-2.68057462007e-05,-0.00032744001235,3.44285557784e-05,1793250337271591680
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.811567955,664,641,886,787,818.811567955,653,631.811567955,656,0.40162126369,0.0044850704476,0.0698037282306,0.999999941123,0.000114971358602,-0.000321195687435,3.70021753892e-05,1793250337304924928
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.613102381,664,641,885.613102381,786.613102381,818.613102381,653,631.613102381,656,0.401504959517,0.00450054414368,0.0698013053472,0.999999935819,0.00015078104739,-0.000323035754756,3.5698506313e-05,1793250337321591808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.035035663,664,641,885.035035663,786.035035663,818.035035663,653,631.035035663,656,0.401395091635,0.00451464474784,0.0697971537255,0.999999933731,0.00015670907011,-0.000326912215403,3.32907311382e-05,1793250337338258432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,720.556402578,684,664.556402578,641,885.556402578,786.556402578,818.556402578,653,631.556402578,655.443597422,0.40130819675,0.00450344059473,0.0697969655702,0.999999940189,9.79905261516e-05,-0.000330874879536,2.32735725365e-05,1793250337354925312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769.145238267,745,720.854761733,684,664.854761733,641,886,787,818.854761733,653,632,655.145238267,0.401229686666,0.00449426492625,0.0697973415098,0.99999994328,5.22211678884e-05,-0.000332367297511,1.5656728297e-05,1793250337371591680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769.723736615,745,720.276263385,684,664.276263385,641,886,787,818.276263385,653,632,655.723736615,0.401171767776,0.00449601072734,0.0697986373687,0.999999944914,5.75227667683e-05,-0.00032647413886,1.66648060552e-05,1793250337388258304
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745.956890418,720,684.956890418,664,641,885.956890418,787,818.956890418,653,631.956890418,656,0.401026686972,0.00449439951964,0.0698087333784,0.999999950456,5.99919338934e-05,-0.000308302214273,2.09338034616e-05,1793250337454924800
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745,720.207513361,684.207513361,664,641,885.207513361,787,818,653,631,656,0.400996394404,0.00449761196722,0.0698137433742,0.999999953626,6.23217470944e-05,-0.000297378310806,2.07307298722e-05,1793250337488258816
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.643201113,745,721,684.643201113,664.356798887,640.643201113,886,787,818,653,631.356798887,656,0.400980456413,0.00449443382697,0.0698168592344,0.999999955283,5.85600213748e-05,-0.00029248790525,2.13555741456e-05,1793250337521592576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.06929859,745,721,684.06929859,664.93070141,640.06929859,886,787,818,653,631.93070141,656,0.400975796812,0.00449506605394,0.0698177978499,0.999999955751,5.99726791477e-05,-0.000290606914499,2.12015378898e-05,1793250337538258944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.518919227,745,721,684.518919227,664.481080773,640.518919227,886,787,818,653,631.481080773,656,0.400973820328,0.00449292423406,0.0698192191151,0.999999956451,5.6844264793e-05,-0.000288777839539,2.17754764969e-05,1793250337554925312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,720.892824481,684.892824481,664,641,886,786.892824481,818,653,631.107175519,656,0.400972419434,0.0044908089468,0.0698206399817,0.999999957143,5.35765715038e-05,-0.000286960702813,2.22940138441e-05,1793250337571592192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,720.313067439,684.313067439,664,641,886,786.313067439,818,653,631.686932561,656,0.400971931779,0.00449049049669,0.0698217668188,0.99999995772,5.24446177561e-05,-0.000285164769334,2.21274335973e-05,1793250337588259072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,886,786.264337098,818.264337098,653,632,655.735662902,0.400971884307,0.00449086818699,0.0698228124966,0.999999958242,5.31395992478e-05,-0.000283211218503,2.19779726375e-05,1793250337604925696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,886,786.838980103,818.838980103,653,632,655.161019897,0.400972353567,0.00449206307801,0.0698237629015,0.999999958694,5.59792239204e-05,-0.000281072640078,2.18486080249e-05,1793250337621592064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,769,745,720.414579799,684,664,641,885.585420201,787,818.585420201,653,631.585420201,655.414579799,0.400972339354,0.0044924036423,0.0698243234895,0.999999958926,5.64171309808e-05,-0.000280164204367,2.17489816786e-05,1793250337638258688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745,720.990551892,684,664,641,885.009448108,787,818.009448108,653,631.009448108,655.990551892,0.400972136929,0.00449241162458,0.0698247323251,0.999999959076,5.59200701843e-05,-0.000279734652597,2.16609321874e-05,1793250337654925056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,745,720.416347199,684,664,641,885.583652801,787,818,653,631.583652801,656,0.400971756414,0.00449284449292,0.0698254984489,0.999999959367,5.65576528676e-05,-0.000278546683626,2.19038509295e-05,1793250337671591936
+398,6.633333333,POSE2_TO_POSE3_RETREAT,769.172028162,745,720.172028162,684,664,641,886,787,818,653,632,656,0.400971619408,0.00449265929056,0.069826181123,0.999999959669,5.56641666587e-05,-0.00027762507833,2.20731876734e-05,1793250337688258560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769.748618518,745,720.748618518,684,664,641,886,787,818,653,632,656,0.400972062053,0.00449100389428,0.0698266535336,0.999999959986,5.1125532742e-05,-0.000277359631525,2.20564993761e-05,1793250337704925184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769.677780059,745,721,684,664,641,885.677780059,787,818,653,632,656,0.400971973722,0.00449115373172,0.0698267820641,0.999999960095,5.10876756301e-05,-0.000276983547965,2.18901836597e-05,1793250337721592064
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769.106489062,745,721,684,664,641,885.106489062,787,818,653,632,656,0.400971474953,0.00449269898713,0.0698266447808,0.999999960048,5.45288499253e-05,-0.00027652194391,2.16082082522e-05,1793250337738259456
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,745,720.518605404,684.481394596,664.481394596,641,885.481394596,787,818,653,632,656,0.400970643144,0.00449254892333,0.069825382023,0.999999959634,5.35860274147e-05,-0.000278201700463,2.15336979228e-05,1793250337754925824
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,720.071711443,685,664.928288557,641,886,787,818.071711443,653,632,656,0.400969972307,0.00449213209096,0.0698243698718,0.999999959259,5.20353486756e-05,-0.000279840036587,2.15194542555e-05,1793250337771592192
+404,6.733333333,POSE2_TO_POSE3_RETREAT,769,745,720.652317975,685,664.347682025,641,886,787,818.652317975,653,632,656,0.400970985269,0.00449257846679,0.0698269659703,0.999999959787,5.32987251399e-05,-0.000277702932208,2.1595584329e-05,1793250337788258560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,769,745,720.768803692,684.768803692,664.231196308,641,886,787,818.768803692,653,632,656,0.400971784278,0.00449235664008,0.069828453189,0.999999960204,5.36957662102e-05,-0.000276113534506,2.16756804364e-05,1793250337804925184
+406,6.766666667,POSE2_TO_POSE3_RETREAT,769,745,720.192504923,684.192504923,664.807495077,641,886,787,818.192504923,653,632,656,0.400972263924,0.00449113739985,0.0698282852036,0.999999960463,5.27996446223e-05,-0.000275341688128,2.17616965805e-05,1793250337821591808
+407,6.783333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,665,641,885.61761859,787,818,653.38238141,632,656,0.400973510763,0.00449099842695,0.0698286178003,0.99999996081,5.20067967169e-05,-0.000274230507694,2.176391926e-05,1793250337838258688
+408,6.800000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,665,641,885.043440747,787,818,653.956559253,632,656,0.400975142414,0.00449140129904,0.0698292014811,0.999999961199,5.12657493015e-05,-0.000272949122737,2.17241124649e-05,1793250337854925056
+409,6.816666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,664.456691209,641,885.543308791,787,818,653.456691209,631.456691209,656,0.400973237562,0.00449206626957,0.0698286001155,0.999999960834,5.27618336893e-05,-0.000274005807207,2.16587857034e-05,1793250337871591424
+410,6.833333333,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,886,787,818.12931832,653,631.12931832,656,0.400971505957,0.0044924314394,0.0698280446786,0.9999999605,5.37681813298e-05,-0.000275035019225,2.15372586987e-05,1793250337888258304
+411,6.850000000,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,886,787,818.709164862,653,631.709164862,656,0.400971386374,0.00449167740404,0.0698279871718,0.999999960505,5.24304221665e-05,-0.000275301810397,2.12272144801e-05,1793250337904924928
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6a9d5f8b49917b333029ac0f5a6079866d64f10
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+2,0.033333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+3,0.050000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+4,0.066666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+6,0.100000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+7,0.116666667,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+8,0.133333333,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
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+390,6.500000000,pose2_to_pose3_retreat,0.575668520214,0.0101500699804,1.0600335404,0.546239198848,0.0188227040799,1.05970492884
+391,6.516666667,pose2_to_pose3_retreat,0.575667373614,0.0101500910822,1.0600335645,0.546238052297,0.0188227253451,1.05970495292
+392,6.533333333,pose2_to_pose3_retreat,0.575666927931,0.0101501108656,1.06003358759,0.5462376066,0.0188227450809,1.05970497592
+393,6.550000000,pose2_to_pose3_retreat,0.575666736238,0.0101501193746,1.06003359752,0.546237414902,0.0188227535694,1.05970498581
+394,6.566666667,pose2_to_pose3_retreat,0.575666699671,0.0101501209977,1.06003359942,0.546237378334,0.0188227551887,1.0597049877
+395,6.583333333,pose2_to_pose3_retreat,0.575666676972,0.0101501220053,1.06003360059,0.546237355635,0.0188227561938,1.05970498887
+396,6.600000000,pose2_to_pose3_retreat,0.575666642685,0.0101501235273,1.06003360237,0.546237321346,0.0188227577122,1.05970499064
+397,6.616666667,pose2_to_pose3_retreat,0.575666604952,0.0101501252022,1.06003360432,0.546237283612,0.018822759383,1.05970499259
+398,6.633333333,pose2_to_pose3_retreat,0.575666557625,0.0101501273029,1.06003360677,0.546237236284,0.0188227614787,1.05970499503
+399,6.650000000,pose2_to_pose3_retreat,0.575666471941,0.0101501311063,1.06003361121,0.546237150598,0.018822765273,1.05970499945
+400,6.666666667,pose2_to_pose3_retreat,0.575666327843,0.0101501375027,1.06003361868,0.546237006495,0.018822771654,1.05970500688
+401,6.683333333,pose2_to_pose3_retreat,0.575666114647,0.0101501469662,1.06003362972,0.546236793293,0.0188227810947,1.05970501788
+402,6.700000000,pose2_to_pose3_retreat,0.575665975271,0.0101501531529,1.06003363694,0.546236653913,0.0188227872665,1.05970502508
+403,6.716666667,pose2_to_pose3_retreat,0.57566595075,0.0101501542413,1.06003363821,0.546236629391,0.0188227883524,1.05970502634
+404,6.733333333,pose2_to_pose3_retreat,0.575665848628,0.0101501587744,1.0600336435,0.546236527266,0.0188227928745,1.05970503161
+405,6.750000000,pose2_to_pose3_retreat,0.57566549244,0.0101501724173,1.06003362042,0.546236170713,0.0188228053579,1.05970501068
+406,6.766666667,pose2_to_pose3_retreat,0.575664870306,0.0101501932253,1.06003352222,0.546235547445,0.0188228225773,1.05970491933
+407,6.783333333,pose2_to_pose3_retreat,0.575664599281,0.01015020229,1.06003347944,0.546235275926,0.0188228300788,1.05970487953
+408,6.800000000,pose2_to_pose3_retreat,0.57566456579,0.0101502034102,1.06003347416,0.546235242373,0.0188228310057,1.05970487461
+409,6.816666667,pose2_to_pose3_retreat,0.575664506103,0.0101501862171,1.06003345803,0.546235182747,0.0188228139947,1.05970485788
+410,6.833333333,pose2_to_pose3_retreat,0.575664419561,0.0101501184365,1.06003341969,0.546235096669,0.0188227476532,1.05970481585
+411,6.850000000,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d21e13b2b6a97195efeb06ff1905d0f146cee434
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea71941cfed2469ac54f9e74981ce3724d7d7d0204d0bb08380769dcdc200af
+size 26169786
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5973d63e674d60076e91adf78f523767cff3d8b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,745,720,685,664,641,885,787,819,653,631,656,0.400970804998,0.00449390975015,0.0698280215336,0.999999960493,5.39712794206e-05,-0.000275054492064,2.11192665172e-05,1793250338030526976
+1,0.016666667,BASELINE,769,745,720.618185461,685,664,641,885.618185461,787,818.381814539,653,631.618185461,656,0.400971957486,0.00449324691405,0.0698284378784,0.9999999607,5.41306605215e-05,-0.000274268149618,2.11481215812e-05,1793250338047193856
+2,0.033333333,BASELINE,769,745,721,684.771925073,664,641,885.771925073,787,818,653,632,655.771925073,0.400972588375,0.00449326882959,0.0698287058655,0.999999960902,5.38526556592e-05,-0.000273596729605,2.10028610604e-05,1793250338063860480
+3,0.050000000,BASELINE,769,745,721,684.175436192,664,641,885.175436192,787,818,653,632,655.175436192,0.400972376715,0.00449439683795,0.0698287342072,0.999999961096,5.28681326014e-05,-0.000273110945954,2.05763481867e-05,1793250338080527360
+4,0.066666667,BASELINE,769,745,721,684,664,641,885,787,818,653,632,655,0.400972146768,0.00449365649427,0.0698288444633,0.999999961028,5.24802986096e-05,-0.000273417537853,2.08009278868e-05,1793250338097193984
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+6,0.100000000,BASELINE,769,745,721,684,664,641,885.560134915,787,818,653.560134915,631.439865085,655.560134915,0.400972098409,0.00449300661134,0.0698285196938,0.999999960682,5.39698381379e-05,-0.000274355080361,2.12572178131e-05,1793250338130527488
+7,0.116666667,BASELINE,769,745,720.863638403,684.136361597,664.136361597,641,886,787,818.136361597,653.863638403,631.136361597,656,0.4009720078,0.00449352511234,0.069828111142,0.999999960515,5.51821497959e-05,-0.000274724084056,2.12442947746e-05,1793250338147193856
+8,0.133333333,BASELINE,769,745,720.274761673,684.725238327,664.725238327,641,886,787,818.725238327,653.274761673,631.725238327,656,0.400970957576,0.00449270700655,0.0698279483419,0.999999960359,5.48838698851e-05,-0.000275343865798,2.13587683624e-05,1793250338163860480
+9,0.150000000,BASELINE,769,745,720,684.69124212,665.30875788,641,886,787,818.69124212,653.30875788,632,656,0.400971296694,0.00449293222123,0.0698284506415,0.999999960498,5.51775436014e-05,-0.00027478840633,2.12424191805e-05,1793250338180526848
+10,0.166666667,BASELINE,769,745,720,684.112408609,665.887591391,641,886,787,818.112408609,653.887591391,632,656,0.400972851092,0.00449407004564,0.0698295347149,0.999999960893,5.5989008972e-05,-0.000273204943885,2.09241654943e-05,1793250338197193728
+11,0.183333333,BASELINE,769,745,720.464372557,684,665.071254885,641,885.535627443,787,818,653.535627443,631.535627443,656,0.400973116603,0.00449323978639,0.0698297081963,0.999999961023,5.49302218563e-05,-0.000272942003114,2.09468800015e-05,1793250338213860608
+12,0.200000000,BASELINE,769,745,721,684.040617008,664.040617008,641,885.040617008,787,818.040617008,653,631.040617008,656,0.400973105374,0.00449200226316,0.0698297483023,0.999999961113,5.35022442311e-05,-0.000272886794798,2.10661604084e-05,1793250338230527488
+13,0.216666667,BASELINE,769,745,721,684.61630629,664.61630629,641,885.61630629,787,818.61630629,653,631.61630629,656,0.400973540492,0.0044916479663,0.0698309223623,0.999999961537,5.314845898e-05,-0.000271375720948,2.13750406308e-05,1793250338247194112
+14,0.233333333,BASELINE,769,745,720.80374344,684.80374344,665,641,886,787,818.80374344,653,631.80374344,656,0.40097379814,0.00449157087302,0.0698313286231,0.999999961781,5.28988914003e-05,-0.000270516568629,2.14769983448e-05,1793250338263860480
+15,0.250000000,BASELINE,769,745,720.215277691,684.215277691,665,641,886,787,818.215277691,653,631.215277691,656,0.400973701124,0.00449204775757,0.0698302004752,0.999999961669,5.28575977046e-05,-0.000270960249508,2.11654315467e-05,1793250338280527104
+16,0.266666667,BASELINE,769,745,720,684,664.630823164,641,886,787,818,653,631.369176836,656,0.400973752594,0.0044921633831,0.0698299761576,0.999999961626,5.2443066722e-05,-0.000271209104054,2.1036095035e-05,1793250338297193984
+17,0.283333333,BASELINE,769,745,720,684,664.04868259,641,886,787,818,653,631.95131741,656,0.400973889722,0.00449207061234,0.0698302732245,0.999999961623,5.18132296878e-05,-0.00027134557085,2.10118800967e-05,1793250338313860864
+18,0.300000000,BASELINE,769,745,720,684,664,641.526305259,885.473694741,787,818,653,631.473694741,656,0.400971642222,0.00449256763316,0.0698293566728,0.999999960951,5.22332892321e-05,-0.000273743175804,2.08543008356e-05,1793250338330527232
+19,0.316666667,BASELINE,769,745,720.102901799,684,664.102901799,641.897098201,885,787,818.102901799,653,631,655.897098201,0.400969818768,0.0044931921875,0.0698285584961,0.999999960412,5.30072207126e-05,-0.000275567560612,2.07289871936e-05,1793250338347193600
+20,0.333333333,BASELINE,769,745,720.690142471,684,664.690142471,641.309857529,885,787,818.690142471,653,631,655.309857529,0.400971015491,0.00449416368051,0.0698288387806,0.999999960809,5.49957903199e-05,-0.00027372266817,2.08128263988e-05,1793250338363860480
+21,0.350000000,BASELINE,769,745,721,684,664.726571211,641,885.273428789,787,818.726571211,653,631.273428789,655.273428789,0.400971694511,0.00449390245503,0.0698291624224,0.999999961045,5.56961906313e-05,-0.000272688303959,2.12133081809e-05,1793250338380527104
+22,0.366666667,BASELINE,769,745,721,684,664.147702236,641,885.852297764,787,818.147702236,653,631.852297764,655.852297764,0.40097179522,0.00449226419173,0.0698295344977,0.999999961104,5.49576104112e-05,-0.000272559359868,2.19675031402e-05,1793250338397193728
+23,0.383333333,BASELINE,769,745,720.568266755,684.431733245,664.431733245,641,886,787,818,653,632,656,0.400970722357,0.00449098498082,0.0698288600393,0.999999961024,5.19880048421e-05,-0.000273443354471,2.18523707013e-05,1793250338413860352
+24,0.400000000,BASELINE,769,745,720,684.98874635,665,641,885.98874635,787,818,653,632,656,0.400969332569,0.00448988768137,0.0698278888197,0.999999960902,4.83625742127e-05,-0.000274585999547,2.14345305677e-05,1793250338430526976
+25,0.416666667,BASELINE,769,745,720,684.414686559,665,641,885.414686559,787,818,653,632,656,0.400972198547,0.00449173668365,0.0698300054627,0.999999961722,5.01605543742e-05,-0.000271310372176,2.07712704201e-05,1793250338447193856
+26,0.433333333,BASELINE,769,745,720,684,665,641,885.162804944,787,818.162804944,653,631.837195056,656,0.40097410535,0.0044928700636,0.0698316240265,0.999999962282,5.1509006982e-05,-0.000269006614607,2.04479324159e-05,1793250338463860480
+27,0.450000000,BASELINE,769,745,720,684,665,641,885.749225836,787,818.749225836,653,631.250774164,656,0.400973516393,0.00449214140571,0.069831946596,0.999999962201,5.16877962376e-05,-0.000269231646531,2.10090664294e-05,1793250338480527104
+28,0.466666667,BASELINE,769,745,720,684,665,641,886,787,818.666475175,653,631.333524825,656,0.400972929185,0.00449214235364,0.0698313062883,0.999999961936,5.19552579083e-05,-0.000270140722822,2.12633587278e-05,1793250338497193728
+29,0.483333333,BASELINE,769,745,720,684,665,641,886,787,818.083761575,653,631.916238425,656,0.400972343284,0.0044926884172,0.0698299465793,0.999999961534,5.22889700207e-05,-0.000271560874032,2.12883981588e-05,1793250338513860608
+30,0.500000000,BASELINE,769,745,720,684,664.506007244,641,885.506007244,787,818,653,631.506007244,656,0.400970926091,0.00449229749285,0.069829144672,0.999999961189,5.1693837272e-05,-0.000272921003675,2.15149164904e-05,1793250338530527232
+31,0.516666667,BASELINE,769,745,720,684,664,641,885.070474491,787,818,653,631,656,0.400969836452,0.00449184610031,0.0698286355706,0.999999960962,5.11527118918e-05,-0.000273840422479,2.17086980514e-05,1793250338547193856
+32,0.533333333,BASELINE,769,745,720,684,664,641,885.643816212,787,818,653,631,656,0.400972079843,0.00449208562379,0.0698295476006,0.999999961506,5.21095830289e-05,-0.000271687068647,2.14275437337e-05,1793250338563860224
+33,0.550000000,BASELINE,768.77665559,745,720,684,664,641,886,787,818,653,631.22334441,656,0.40097303734,0.00449233957335,0.0698299899525,0.999999961728,5.29546847112e-05,-0.00027072356556,2.11749124274e-05,1793250338580527104
+34,0.566666667,BASELINE,768.186980353,745,720,684,664,641,886,787,818,653,631.813019647,656,0.400971885706,0.00449261718462,0.0698296619356,0.999999961429,5.36164613755e-05,-0.000271711662952,2.09690647619e-05,1793250338597193728
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+38,0.633333333,BASELINE,769,745,720,684,664.875124492,641,885,787,818,653,631,656,0.400970717927,0.00449243144516,0.0698288921671,0.999999961104,5.28472179899e-05,-0.000273036851749,2.11997865106e-05,1793250338663860480
+39,0.650000000,BASELINE,769,745,720,684,664.303711236,641,885,787,818,653,631,656,0.400970900523,0.00449220612887,0.0698292974365,0.999999961147,5.37153801255e-05,-0.000272707378456,2.12339212575e-05,1793250338680527104
+40,0.666666667,BASELINE,769,745,720,684,664.278142576,641,885,787,818.278142576,653,631,656,0.400971387686,0.00449244015757,0.0698296998588,0.999999961266,5.45101183339e-05,-0.000272110985625,2.12540996975e-05,1793250338697193984
+41,0.683333333,BASELINE,769,745,720,684,664.871841293,641,885,787,818.871841293,653,631,656,0.400972220385,0.00449319531879,0.0698300990508,0.999999961471,5.52215561505e-05,-0.000271211769347,2.12584445352e-05,1793250338713860608
+42,0.700000000,BASELINE,769,745,720.4529994,684.4529994,664.5470006,641,885.4529994,787,818.5470006,653,631,655.5470006,0.40097175061,0.00449351234295,0.0698297908644,0.999999961303,5.5993334303e-05,-0.000271684894719,2.11001375085e-05,1793250338730527232
+43,0.716666667,BASELINE,769,745,720.969385896,685,664,641,886,787,818.030614104,653,631.030614104,655.030614104,0.400971072752,0.00449372863281,0.0698293810299,0.999999961078,5.6678698653e-05,-0.000272387926243,2.09055208192e-05,1793250338747193856
+44,0.733333333,BASELINE,769,745,720.393393878,685,664,641,886,787,818.606606122,653,631.606606122,655.606606122,0.400973075543,0.00449429908829,0.0698306294922,0.999999961667,5.55287157913e-05,-0.000270456422045,2.08617373942e-05,1793250338763860480
+45,0.750000000,BASELINE,769,745,720,684.814065894,664,641,885.814065894,787,818.814065894,653,632,656,0.400973907975,0.00449481140993,0.0698312158232,0.999999961981,5.44028474984e-05,-0.000269527957674,2.08075466192e-05,1793250338780527104
+46,0.766666667,BASELINE,769,745,720,684.227550899,664,641,885.227550899,787,818.227550899,653,632,656,0.400972218958,0.00449519848658,0.0698303756428,0.999999961708,5.33289323588e-05,-0.000270760466573,2.07309340065e-05,1793250338797193728
+47,0.783333333,BASELINE,769,745,720,684,664.356480304,641,885.356480304,787,818,653,632,656,0.400971318847,0.00449476987585,0.0698300805133,0.999999961532,5.28113499314e-05,-0.000271505849723,2.07783691659e-05,1793250338813860608
+48,0.800000000,BASELINE,769,745,720,684,664.938937063,641,885.938937063,787,818,653,632,656,0.400970918831,0.00449382419272,0.069830130897,0.999999961419,5.26464323077e-05,-0.000271942439076,2.090443945e-05,1793250338830527232
+49,0.816666667,BASELINE,769.515560459,745,720,684,665,641,885.484439541,787,818,653,631.484439541,655.484439541,0.400971994349,0.00449311290631,0.0698308854665,0.999999961669,5.37601635203e-05,-0.000270775220624,2.12910617173e-05,1793250338847193856
+50,0.833333333,BASELINE,769.909358767,745,720.090641233,684.090641233,665,641,885.090641233,787,818,653,631.090641233,655.090641233,0.400973177484,0.00449247150669,0.0698315757091,0.999999961978,5.45547561794e-05,-0.000269446164285,2.16006105736e-05,1793250338863860480
+51,0.850000000,BASELINE,769.338828024,745,720.661171976,684.661171976,665,641,885.661171976,787,818,653,631.661171976,655.661171976,0.400974015487,0.00449205477655,0.0698314887496,0.999999962395,5.28668799997e-05,-0.000268254717773,2.13405478798e-05,1793250338880527104
+52,0.866666667,BASELINE,769,745,720.758678957,684.758678957,664.758678957,641,885.758678957,787,818,653,631.758678957,655.758678957,0.400974044632,0.00449168003315,0.0698311519264,0.999999962497,5.18656353754e-05,-0.000268077408531,2.12413304364e-05,1793250338897193728
+53,0.883333333,BASELINE,769,745,720.164464675,684.164464675,664.164464675,641,885.164464675,787,818,653,631.164464675,655.164464675,0.400972890951,0.00449136668862,0.0698304497178,0.999999962143,5.18684791486e-05,-0.00026938311213,2.13773233367e-05,1793250338913860352
+54,0.900000000,BASELINE,769,745,720,684,664.418977978,641,885,787,818,653,631.418977978,655.418977978,0.400972504242,0.0044916327404,0.0698298200586,0.999999961713,5.34634671779e-05,-0.000270671400184,2.12972344308e-05,1793250338930527232
+55,0.916666667,BASELINE,769,745,720,684,664.998298328,641,885,787,818,653,631.998298328,655.998298328,0.400972411052,0.00449212052645,0.069829218164,0.999999961248,5.56677669101e-05,-0.000271953023299,2.11344512728e-05,1793250338947193856
+56,0.933333333,BASELINE,769,745,720,684,665,641,885.572209834,787,818,653.572209834,631.427790166,656,0.400972202405,0.00449216711307,0.0698297620538,0.999999961531,5.48997939867e-05,-0.000271068674897,2.1133213985e-05,1793250338963860480
+57,0.950000000,BASELINE,769,745,720.145664808,684.145664808,665,641,886,787,818.145664808,653.854335192,631.145664808,656,0.400972082493,0.0044920536184,0.0698303538223,0.999999961779,5.38457262058e-05,-0.000270357355221,2.11967160372e-05,1793250338980527360
+58,0.966666667,BASELINE,769,745,720.717829633,684.717829633,665,641,886,787,818.717829633,653.282170367,631.717829633,656,0.400972223394,0.00449147521856,0.0698310758944,0.999999961923,5.197962388e-05,-0.00027017133927,2.14483785079e-05,1793250338997195008
+59,0.983333333,BASELINE,769.301167565,745,721,685,664.698832435,641,886,787,819,653,631.698832435,656,0.400972285373,0.00449110206264,0.0698310366597,0.999999961925,5.08689694114e-05,-0.000270370174515,2.15026783187e-05,1793250339013861632
+60,1.000000000,BASELINE,769.895377222,745,721,685,664.104622778,641,886,787,819,653,631.104622778,656,0.400972270561,0.00449092861312,0.0698302566585,0.999999961792,5.04933806679e-05,-0.000270943477686,2.13649403253e-05,1793250339030527744
+61,1.016666667,BASELINE,769.522936047,745,720.522936047,685,664.477063953,641,885.522936047,787,818.522936047,653,631,655.522936047,0.400972712559,0.00449129968222,0.0698308405388,0.999999961957,5.12135399728e-05,-0.000270219345687,2.10699022132e-05,1793250339047194368
+62,1.033333333,BASELINE,769,745,720,684.94432945,665,641,885,787,818.05567055,653,631.05567055,655.05567055,0.400973402707,0.00449176408702,0.0698317075435,0.999999962221,5.20670152425e-05,-0.000269099864434,2.07927984005e-05,1793250339063861248
+63,1.050000000,BASELINE,769,745,720,684.369490409,665,641,885,787,818.630509591,653,631.630509591,655.630509591,0.400975496658,0.00449201375992,0.0698324968489,0.999999962816,5.19800747141e-05,-0.000266879083885,2.09964237258e-05,1793250339080527360
+64,1.066666667,BASELINE,769,745,720,684,665,641.209601122,885.209601122,787,818.790398878,653,632,656,0.400976554133,0.00449214310632,0.069832980319,0.999999963101,5.18675640495e-05,-0.000265813532049,2.12160543927e-05,1793250339097193728
+65,1.083333333,BASELINE,769,745,720,684,665,641.796344264,885.796344264,787,818.203655736,653,632,656,0.400975746646,0.00449205594542,0.0698329134896,0.999999962835,5.17090442246e-05,-0.000266826620408,2.14644839718e-05,1793250339113860352
+66,1.100000000,BASELINE,769,745,720,684.380288685,664.619711315,641.619711315,886,787,818.380288685,653,632,656,0.400974583186,0.00449182133252,0.0698324039122,0.999999962482,5.22830996638e-05,-0.000268036298698,2.14107596249e-05,1793250339130527232
+67,1.116666667,BASELINE,769,745,720,684.962745241,664.037254759,641.037254759,886,787,818.962745241,653,632,656,0.400973230487,0.00449150833167,0.0698316589624,0.999999962083,5.3246604458e-05,-0.000269350487477,2.11964051534e-05,1793250339147193856
+68,1.133333333,BASELINE,768.461943224,745,720,685,664,641,886,787.538056776,818.461943224,652.461943224,631.461943224,656,0.400973593524,0.00449213859909,0.0698311041052,0.999999961972,5.33760326907e-05,-0.000269753208518,2.09840240866e-05,1793250339163860480
+69,1.150000000,BASELINE,768.112779605,745,720.112779605,684.887220395,664,641,885.887220395,787.887220395,818,652.112779605,631,656,0.400974029701,0.00449250409864,0.0698308113818,0.999999962002,5.32348547487e-05,-0.000269676194717,2.08783113086e-05,1793250339180527104
+70,1.166666667,BASELINE,768.687091113,745,720.687091113,684.312908887,664,641,885.312908887,787.312908887,818,652.687091113,631,656,0.400974285408,0.00449152230586,0.0698315382403,0.999999962529,5.22195049251e-05,-0.000267890825918,2.12085691006e-05,1793250339197193728
+71,1.183333333,BASELINE,769,745,720.730966372,684,664.269033628,641,885.269033628,787,818,653,631,656,0.400973987786,0.00449143022323,0.0698317441631,0.99999996259,5.16489004752e-05,-0.000267781340772,2.11156122889e-05,1793250339213860608
+72,1.200000000,BASELINE,769,745,720.139889174,684,664.860110826,641,885.860110826,787,818,653,631,656,0.400973027808,0.00449240315763,0.0698313265057,0.999999962095,5.16106731594e-05,-0.000269677952392,2.05160514105e-05,1793250339230527232
+73,1.216666667,BASELINE,769,745,720.442044002,684.442044002,664.557955998,641,886,787,818,653,631.442044002,656,0.400972825497,0.0044926342107,0.0698312499606,0.999999962145,5.20430367973e-05,-0.000269400295711,2.06380178531e-05,1793250339247193856
+74,1.233333333,BASELINE,769,745,720.979021236,684.979021236,664.020978764,641,886,787,818,653,632,656,0.400972871932,0.00449264294047,0.0698312837531,0.999999962354,5.26460860365e-05,-0.000268476854365,2.09734115969e-05,1793250339263860224
+75,1.250000000,BASELINE,769,745,720.40439626,684.40439626,664.59560374,641,886,787,818,653,632,656,0.400973283467,0.00449285472826,0.0698314383342,0.999999962333,5.39031164546e-05,-0.000268301304324,2.10375199417e-05,1793250339280526848
+76,1.266666667,BASELINE,769,745,720,684,664.826364288,641,886,787,818,653,632,656,0.400973379337,0.0044928247965,0.0698312807076,0.999999962236,5.43556520013e-05,-0.000268568090919,2.11007526218e-05,1793250339297193472
+77,1.283333333,BASELINE,769,745,720,684,664.240238669,641,886,787,818,653,632,656,0.400972725314,0.00449222063451,0.0698303813991,0.999999961958,5.28970252498e-05,-0.000269885694753,2.11619050643e-05,1793250339313860096
+78,1.300000000,BASELINE,769,745,720,684,664.341188971,641,885.658811029,787,818,653,632,656,0.400971993752,0.0044923007877,0.0698303214725,0.999999961745,5.29091002272e-05,-0.000270661467935,2.12760919571e-05,1793250339330527232
+79,1.316666667,BASELINE,769,745,720,684,664.919353568,641,885.080646432,787,818,653,632,656,0.400971208334,0.0044928562377,0.0698308445456,0.999999961579,5.39426633316e-05,-0.000271060908095,2.14271143642e-05,1793250339347194880
+80,1.333333333,BASELINE,769,745,720,684,665,641,885.498216141,787,818,653,632,656,0.400972248514,0.00449165946712,0.069831739969,0.999999962155,5.13375049783e-05,-0.000269439387031,2.13964831479e-05,1793250339363861504
+81,1.350000000,BASELINE,769,745,720,684.076704697,665,641,885.923295303,787,818,653,632,656,0.400973247389,0.0044905038226,0.0698324491373,0.999999962681,4.87435504821e-05,-0.00026797423496,2.12757820231e-05,1793250339380528128
+82,1.366666667,BASELINE,769,745,720,684.652026241,665,641,885.347973759,787,818,653,632,656,0.400972054112,0.00449146185033,0.0698315552091,0.999999962175,5.00565858961e-05,-0.000269655063813,2.07609941656e-05,1793250339397194240
+83,1.383333333,BASELINE,769,745,720.232387109,685,665,641,885.232387109,787,818,653,632,656,0.400971923496,0.00449305112605,0.0698312895449,0.999999961983,5.22441347985e-05,-0.000269976774742,2.04284255113e-05,1793250339413860608
+84,1.400000000,BASELINE,769,745,720.820461151,685,665,641,885.820461151,787,818,653,632,656,0.400973419366,0.00449560657712,0.0698319854882,0.999999962267,5.57701962695e-05,-0.000268218247965,2.03747577457e-05,1793250339430527232
+85,1.416666667,BASELINE,769,745,721,684.595296559,664.595296559,641,885.595296559,787,818,653,632,656,0.400973335917,0.00449481813871,0.0698319859432,0.999999962321,5.36945630089e-05,-0.00026843676988,2.0411676527e-05,1793250339447193856
+86,1.433333333,BASELINE,769,745,721,684.012738244,664.012738244,641,885.012738244,787,818,653,632,656,0.400972558405,0.00449256016226,0.0698316807522,0.99999996226,4.9157154785e-05,-0.000269524144767,2.04884053482e-05,1793250339463860480
+87,1.450000000,BASELINE,769,745,721,684,664.561337311,641,885,787,818,653,632,655.438662689,0.400973854951,0.00449229773552,0.0698325415445,0.999999962714,5.14783448776e-05,-0.000267364811264,2.09334909259e-05,1793250339480527360
+88,1.466666667,BASELINE,769,745,721,684,665,641,885,787,818,653,631.865523012,655.134476988,0.400974825528,0.00449187650226,0.0698331151835,0.99999996307,5.28131721492e-05,-0.000265743198696,2.12269819086e-05,1793250339497194496
+89,1.483333333,BASELINE,769,745,721,684,665,641,885,787,818,653,631.294804184,655.705195816,0.400974588252,0.0044907953874,0.0698326727444,0.999999963102,5.04508713928e-05,-0.000266101394644,2.10019888757e-05,1793250339513861376
+90,1.500000000,BASELINE,769,745,721,684.287603164,664.712396836,641,885.287603164,787,818,653,631.287603164,656,0.400974730624,0.00449058356017,0.0698325697008,0.999999963095,5.0224609436e-05,-0.000266174441921,2.09550511898e-05,1793250339530527744
+91,1.516666667,BASELINE,769,745,721,684.882499206,664.117500794,641,885.882499206,787,818,653,631.882499206,656,0.400975278637,0.0044913005333,0.0698328292882,0.999999963048,5.2280622629e-05,-0.00026594281883,2.1098358783e-05,1793250339547194368
+92,1.533333333,BASELINE,769,745,720.535203424,685,664.464796576,641.464796576,886,787,818.464796576,653.464796576,632,656,0.400973981885,0.00449197837035,0.0698317645914,0.999999962461,5.23213771335e-05,-0.000268140460064,2.10142449545e-05,1793250339563860992
+93,1.550000000,BASELINE,768.956428346,745,720,684.956428346,665,641.956428346,886,787,818.956428346,653.956428346,632,656,0.400972336638,0.0044926207022,0.0698304887875,0.9999999618,5.19859155734e-05,-0.000270668534118,2.08736406605e-05,1793250339580527616
+94,1.566666667,BASELINE,768.382780302,745,720,684.382780302,665,641.382780302,886,787,818.382780302,653.382780302,632,656,0.400971975539,0.00449294827613,0.0698306100545,0.99999996194,5.31078652799e-05,-0.00026994255078,2.07267655026e-05,1793250339597194240
+95,1.583333333,BASELINE,768.195776551,745.195776551,720.195776551,684,665,641,886,787,818.195776551,653,632,656,0.400972257095,0.00449324932995,0.0698311525915,0.99999996217,5.39063376333e-05,-0.000268930924573,2.07239662142e-05,1793250339613860864
+96,1.600000000,BASELINE,768.784178001,745.784178001,720.784178001,684,665,641,886,787,818.784178001,653,632,656,0.400973827476,0.00449349719844,0.0698325399747,0.999999962581,5.4056084576e-05,-0.000267346448714,2.10101073949e-05,1793250339630527744
+97,1.616666667,BASELINE,769,745.63456407,720.63456407,684,664.63456407,641,885.63456407,787,818.63456407,653,631.63456407,656,0.400974029681,0.00449280721492,0.0698329579187,0.999999962666,5.33735684855e-05,-0.000267149318043,2.12130584263e-05,1793250339647194624
+98,1.633333333,BASELINE,769,745.057444163,720.057444163,684,664.057444163,641,885.057444163,787,818.057444163,653,631.057444163,656,0.40097343935,0.00449157396725,0.0698328143011,0.999999962562,5.22089521458e-05,-0.000267755826967,2.1367820359e-05,1793250339663861504
+99,1.650000000,BASELINE,769,745,720,684,664.522069533,641,885.522069533,787,818,653,631.522069533,656,0.40097366553,0.00449235587212,0.0698327738173,0.999999962728,5.30568088422e-05,-0.000267000082419,2.09526291412e-05,1793250339680527872
+100,1.666666667,BASELINE,769,745,720.100666872,684,665,641,886,787,818,653,631.899333128,656,0.400973750626,0.00449310374547,0.0698325904555,0.999999962834,5.37970875018e-05,-0.000266483673523,2.05920781259e-05,1793250339697194240
+101,1.683333333,BASELINE,769,745,720.673722413,684,665,641,886,787,818,653,631.326277587,656,0.400972750139,0.00449264663869,0.0698316831287,0.999999962523,5.29886521037e-05,-0.000267796986833,2.07835729466e-05,1793250339713860864
+102,1.700000000,BASELINE,769,745,721,684,665,641,885.746079847,787,818,653,631.253920153,656,0.400972654523,0.00449214654666,0.0698311863332,0.999999962352,5.21954184985e-05,-0.000268583069756,2.08570592853e-05,1793250339730527488
+103,1.716666667,BASELINE,769,745,721,684,665,641,885.156439094,787,818,653,631.843560906,656,0.400973755281,0.00449158962168,0.0698312323219,0.99999996237,5.14222840125e-05,-0.000268672074776,2.07745206619e-05,1793250339747193856
+104,1.733333333,BASELINE,768.573592405,745,720.573592405,684,664.573592405,641,885,787,818,653,632,656,0.40097339899,0.00449287222963,0.0698311918026,0.999999962245,5.2467350786e-05,-0.000268950197854,2.05895414852e-05,1793250339763860736
+105,1.750000000,BASELINE,768,745,720,684.006745493,664.006745493,641,885,787,818,653.006745493,632,656,0.400972529741,0.00449478406204,0.0698311236733,0.999999962067,5.41513325188e-05,-0.000269290818483,2.0377411349e-05,1793250339780527872
+106,1.766666667,BASELINE,768,745,720,684.582415468,664.582415468,641,885,787,818,653.582415468,632,656,0.400972775151,0.00449373775445,0.0698313617213,0.999999962084,5.43441981575e-05,-0.00026914248117,2.09954286054e-05,1793250339797194752
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,745,721,684,666,641,886,787,818,653,632,656,0.400973172392,0.0044929853996,0.0698303893347,0.999999962134,5.24570188771e-05,-0.000269367627547,2.05371083419e-05,1793250339838614272
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,745,721,684,665.402362464,641.597637536,885.402362464,787,818,653,631.402362464,656,0.400973174479,0.00449271892619,0.0698321041277,0.999999962365,5.28172567181e-05,-0.000268386150531,2.12009309089e-05,1793250339855281152
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641.810512233,885.189487767,787,818.189487767,653,631.189487767,656,0.400972827258,0.00449310583945,0.0698327482941,0.999999962349,5.38691185039e-05,-0.00026822395592,2.13626280626e-05,1793250339871947776
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641.230586586,885.769413414,787,818.769413414,653,631.769413414,656,0.400971760291,0.00449483905017,0.0698311864438,0.99999996182,5.6346065421e-05,-0.000269749885327,2.04897003326e-05,1793250339888614400
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,720.654201952,684,665,641,885.654201952,787,818.654201952,653,632,656,0.40097131841,0.00449386377134,0.0698307043436,0.999999961715,5.45935208855e-05,-0.000270509341138,2.03615894118e-05,1793250339905281024
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,720.080154652,684,665,641,885.080154652,787,818.080154652,653,632,656,0.400971289125,0.00449110071276,0.0698309349491,0.999999961877,5.00492361433e-05,-0.000270762874319,2.07251061879e-05,1793250339921947648
+113,1.883333333,POSE1_TO_POSE2_PRESS,769,745,720.505156835,684.505156835,665,641,885.505156835,787,818.505156835,653,631.494843165,656,0.400972028696,0.00449067732144,0.069831212348,0.999999962149,4.88135690647e-05,-0.000269970503319,2.08810109196e-05,1793250339938614528
+114,1.900000000,POSE1_TO_POSE2_PRESS,769,745,720.908493868,684.908493868,665,641,886,787,818.908493868,653,631.091506132,656,0.400972777881,0.00449091191128,0.06983151135,0.999999962376,4.86337892078e-05,-0.000269156133543,2.09382225428e-05,1793250339955281152
+115,1.916666667,POSE1_TO_POSE2_PRESS,769,745,720.326381597,684.326381597,665,641,886,787,818.326381597,653,631.673618403,656,0.400972909615,0.00449263844805,0.0698318854592,0.999999962258,5.12362095916e-05,-0.000269133880023,2.06469426757e-05,1793250339971947520
+116,1.933333333,POSE1_TO_POSE2_PRESS,769,745,720.253049362,684,665,641,886,787,818,653,632,656,0.400975533787,0.00449338193309,0.0698333067514,0.999999962586,5.26418737308e-05,-0.000267635705887,2.06875182006e-05,1793250339988613888
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745,720.829058196,684,665,641,886,787,818,653,632,656,0.400981338983,0.00449287077794,0.0698360645324,0.999999963482,5.25201528077e-05,-0.000264253857595,2.11516310426e-05,1793250340005280768
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,885.587940926,787,818,653,631.587940926,656,0.401002837778,0.00449241783369,0.0698447897791,0.999999967339,5.3150637777e-05,-0.000249087925267,2.12814115823e-05,1793250340021947392
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721,684,665,641,885.001989294,787,818,653,631.001989294,656,0.40103095941,0.0044919894549,0.0698560333492,0.999999972102,5.40985602276e-05,-0.000228949005341,2.12701009789e-05,1793250340038613760
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,720.424039878,684,665,641,885.575960122,787,818,653,631.575960122,656,0.401083533004,0.00449166529105,0.0698738681367,0.999999978457,5.20626876457e-05,-0.000199821052908,2.11370965545e-05,1793250340055280128
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,720,684.154115857,665,641,885.845884143,787,818.154115857,653.154115857,631.845884143,656,0.401138835583,0.00449133275336,0.0698893892507,0.999999982961,5.00274985933e-05,-0.000176463230212,2.08653740081e-05,1793250340071947008
+122,2.033333333,POSE1_TO_POSE2_PRESS,769,745,720,684.732915375,665,641,885.267084625,787,818.732915375,653.732915375,631.267084625,656,0.401201428666,0.00449097616223,0.0698984729073,0.999999984347,4.80222019691e-05,-0.000169090027141,2.02125403642e-05,1793250340088613888
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,720.309276511,685,665,641,885.309276511,787,818.690723489,653.690723489,631.309276511,656,0.401273145566,0.00449157015,0.0699038836605,0.999999985619,4.75645696363e-05,-0.000161698803577,1.87999324038e-05,1793250340105280512
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,720.883548348,685,665,641,885.883548348,787,818.116451652,653.116451652,631.883548348,656,0.401352679964,0.00449297861595,0.0699061473838,0.999999986784,4.84330122783e-05,-0.000154292140074,1.67363321307e-05,1793250340121947136
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,720.542102328,685,665,641.457897672,885.542102328,787,818,653,632,656,0.40144286304,0.00449375595722,0.0699033346568,0.99999998615,4.64312185615e-05,-0.000159173145225,1.44324503737e-05,1793250340138613760
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,720.033497843,684.966502157,665,641.966502157,885.033497843,787.033497843,818,653,631.966502157,656,0.40153757678,0.00449436638199,0.0698994210581,0.99999998505,4.37806236947e-05,-0.00016684703332,1.20746698094e-05,1793250340155280384
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,720.629782096,684.370217904,665,641.370217904,885.629782096,787.629782096,818,653,631.370217904,656,0.401662902268,0.00449486956958,0.0698987059683,0.99999998478,4.24955093802e-05,-0.000168932646616,9.83818057271e-06,1793250340171947264
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,744.782157622,721,684,665,641,886,787.782157622,818,653,631.217842378,656,0.40180098895,0.00449610767851,0.069899610743,0.999999985031,4.03981738309e-05,-0.000168096957884,7.06057577371e-06,1793250340188613632
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,744.207565394,721,684,665,641,886,787.207565394,818,653,631.792434606,656,0.401959974003,0.00449854933227,0.0699031682909,0.999999986111,3.69707032541e-05,-0.000162477194905,3.39681259573e-06,1793250340205280000
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,744.364483016,720.635516984,684.364483016,665,641.364483016,886,787,818,653,631.635516984,656,0.402139031432,0.00449992330642,0.0699079801738,0.999999987621,3.37035943637e-05,-0.000153693994971,-5.89218503751e-07,1793250340221946880
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,744.935092868,720.064907132,684.935092868,665,641.935092868,886,787,818,653,631.064907132,656,0.402329440447,0.00450069347374,0.0699135014235,0.999999989281,3.05271748254e-05,-0.000143121769426,-4.75750279384e-06,1793250340238614016
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745,720.526669392,685,665,641.473330608,886,787,818,653,631,656,0.402555165664,0.00450379448612,0.0699167006243,0.999999990271,2.44620053846e-05,-0.000136952848925,-1.01980694973e-05,1793250340255281152
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745,721,685,664.882234778,641,886,787,818,653,631.117765222,656,0.402791972904,0.0045065204978,0.0699192866688,0.999999991036,1.79895072616e-05,-0.000131750721031,-1.57071671952e-05,1793250340271948032
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745,721,685,664.303552663,641,886,787,818,653,631.696447337,656,0.403054412783,0.00450660791928,0.0699206393764,0.999999991511,1.13739298967e-05,-0.000128120503493,-2.08453618275e-05,1793250340288614144
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745,720.725794291,685,664.274205709,641,886,787,818,653,632,656,0.403342147906,0.00450684335314,0.0699271056781,0.999999993056,4.28919056038e-06,-0.000114871923711,-2.59781301633e-05,1793250340305280512
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745,720.149055128,685,664.850944872,641,886,787,818,653,632,656,0.403657791469,0.00450724209031,0.0699392138506,0.999999995369,-3.31317871107e-06,-9.10113245316e-05,-3.11049113019e-05,1793250340321947136
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,720.420967435,685,665,641.420967435,886,787,818,653.420967435,632,656,0.403984609809,0.00450858129649,0.0699450166243,0.99999999576,-7.90250814775e-06,-8.41890744101e-05,-3.64659024343e-05,1793250340338614016
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,720.988649136,685,665,641.988649136,886,787,818,653.988649136,632,656,0.404315322741,0.00451024827201,0.0699486218596,0.999999995587,-1.14417421078e-05,-8.33049774788e-05,-4.19085196051e-05,1793250340355280896
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745,720.415058979,685,665,641.415058979,886,787.584941021,818,653.415058979,632,656,0.404714396514,0.00451242858943,0.0699558398242,0.999999996132,-1.72093603379e-05,-7.14537786389e-05,-4.83233824671e-05,1793250340371947520
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745,720,685,665,641,886,787.822927679,818,653.177072321,632,656,0.40512198996,0.00451301208319,0.0699609273799,0.999999997042,4.03656056423e-06,-6.16757539403e-05,-4.57842458031e-05,1793250340388614400
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745,720,685,665,641,886,787.241627003,818,653.758372997,632,656,0.405545848381,0.00450992636853,0.069960983275,0.999999994319,8.7053949978e-05,-5.71412774065e-05,-2.27592461054e-05,1793250340405281024
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745,720.335270399,685,665,641,886,787,818,653.664729601,632,656,0.405984017791,0.00450274001782,0.0699573198653,0.999999992053,0.000108660576841,-6.17299170776e-05,-1.66480504361e-05,1793250340421947392
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745,720.90903559,685,665,641,886,787,818,653.09096441,632,656,0.406432367376,0.00449263667698,0.0699510107259,0.999999993347,8.65826312175e-05,-7.28082904377e-05,-2.25684967076e-05,1793250340438613760
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745,721,685.483751017,664.516248983,641,886,787,818,653,631.516248983,656,0.406908406187,0.00449678294374,0.06993383791,0.999999989904,9.75505808573e-05,-9.9970230499e-05,-2.61189885857e-05,1793250340455280640
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745,721,686,664.060555021,641.060555021,886.060555021,787,818,653,631.060555021,656,0.407400252632,0.00450403994146,0.0699172714755,0.999999986672,0.000100886416077,-0.000125006233263,-2.9185053319e-05,1793250340471947264
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,721,686,664.654168852,641.654168852,886.654168852,787,818,653,631.654168852,656,0.407985328161,0.00451504666265,0.0699240608838,0.999999993857,-1.77706182846e-05,-0.000104652478343,-3.19174513796e-05,1793250340488613888
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745.239994669,721,686.239994669,665.239994669,642,887,787,818,653,631.760005331,656,0.408586647063,0.00452250400785,0.0699353307587,0.999999993241,-7.8669360735e-05,-7.82130735076e-05,-3.47972996821e-05,1793250340505281024
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.814950695,721,686.814950695,665.814950695,642,887,787,818,653,631.185049305,656,0.409210636858,0.00452500747655,0.0699528540351,0.999999996608,-5.89546569277e-05,-4.32799096689e-05,-3.78829450887e-05,1793250340521948416
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.609546945,720.609546945,687,665.609546945,642,887.390453055,787,818,653,631,656,0.409827706543,0.00453349751237,0.0699536868728,0.999999998178,-2.30475511032e-05,-3.96707397312e-05,-3.923385875e-05,1793250340538615040
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745.033785312,720.033785312,687,665.033785312,642,887.966214688,787,818,653,631,656,0.410441491934,0.00454482876611,0.0699465984466,0.999999997702,2.05444498784e-05,-5.09279028472e-05,-3.97614705506e-05,1793250340555281408
+151,2.516666667,POSE1_TO_POSE2_PRESS,769,745.554736809,720.554736809,687,665.554736809,642,888,787,818.554736809,653.554736809,631.554736809,656,0.41108871828,0.00454996613787,0.0699424826603,0.999999996142,4.73324251132e-05,-6.21080491136e-05,-4.02202727447e-05,1793250340571948032
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.858435479,746,721,687.141564521,666,641.858435479,888,787,818.858435479,653.858435479,631.858435479,656,0.411768999716,0.00455534888018,0.0699466484961,0.999999995108,6.92293736438e-05,-5.75337096981e-05,-4.09913688787e-05,1793250340588614656
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.27930389,746,721,687.72069611,666,641.27930389,888,787,818.27930389,653.27930389,631.27930389,656,0.412545008819,0.00456268348699,0.0699758395385,0.999999995937,7.92462684208e-05,-4.27807926242e-06,-4.27410042027e-05,1793250340605281536
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,745.702561079,721,688,666.297438921,641.297438921,887.702561079,787,818,653,631,656,0.413314799452,0.00457113196917,0.070001568077,0.999999994925,8.37528713046e-05,3.53331614908e-05,-4.34494510142e-05,1793250340621947904
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,745.128043462,721,688,666.871956538,641.871956538,887.128043462,787,818,653,631,656,0.41407879737,0.0045806180808,0.0700240711295,0.999999993676,8.31263729082e-05,6.22340016054e-05,-4.31879807951e-05,1793250340638614272
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.4564738,745,721,688.4564738,666.5435262,642,887.4564738,787.4564738,818.4564738,653,631,656,0.414795497434,0.0045866709952,0.0700002055873,0.999999994059,9.85938334817e-05,1.58669951215e-05,-4.3690149304e-05,1793250340655281152
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.956841678,745.043158322,721,689,666,642,888,788,819,653,631,656,0.415505258472,0.00459184501779,0.0699628403392,0.999999990962,0.000116193419332,-5.09059008907e-05,-4.45421480106e-05,1793250340671948288
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.378837969,745.621162031,721,689,666,642,888,788,819,653,631,656,0.416297126683,0.00459832904774,0.0699229748978,0.999999987521,0.000103016778954,-0.000110163273479,-4.7015449736e-05,1793250340688614400
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.199652385,746,721,689.199652385,666.199652385,642,888,788,819,653,631,656,0.417125650355,0.00460531902842,0.0699064095058,0.999999984507,0.000102180066419,-0.000134792588202,-4.87375057314e-05,1793250340705280768
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.779068365,746,721,689.779068365,666.779068365,642,888,788,819,653,631,656,0.418023897212,0.00461327138973,0.0699341636994,0.999999986632,0.000124815428117,-9.35550396433e-05,-4.90305992425e-05,1793250340721947392
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,746,721,690,666.644124184,642,888,788,819,653,631,656,0.41891497561,0.00461952282301,0.0699616250671,0.999999987477,0.00014093201842,-5.24303236623e-05,-4.93439880044e-05,1793250340738614016
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721,690,666.068924374,642,888,788,819,653,631,656,0.4198016361,0.0046247259849,0.0699889059669,0.999999986992,0.000153031130609,-1.13751471928e-05,-4.96698845625e-05,1793250340755280640
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721,690,667.033839328,642,888.516919664,788,819,653.516919664,631.516919664,656.516919664,0.420698304618,0.00462232062456,0.0700116340192,0.999999989033,0.00013751451545,2.31495734306e-05,-4.98876976198e-05,1793250340771947264
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721,690,667.896915162,642,889,788,819,653.896915162,632,656.896915162,0.421595190126,0.00461479898909,0.0700262299294,0.999999990715,0.000118695288456,4.43447732527e-05,-5.014723132e-05,1793250340788614144
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,690,667.315978897,642,889,788,819,653.315978897,632,656.315978897,0.422486765345,0.00458836236122,0.0700060023652,0.999999993484,0.000101994477096,7.87199068142e-06,-5.06683711661e-05,1793250340805280768
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,690.263045291,666.736954709,642,889,787.736954709,819.263045291,653.263045291,631.736954709,656.263045291,0.423354895892,0.00457284181334,0.0699533281629,0.999999992673,7.96276595684e-05,-7.47824817371e-05,-5.21546215615e-05,1793250340821947392
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,690.839789279,666.160210721,642,889,787.160210721,819.839789279,653.839789279,631.160210721,656.839789279,0.424195067253,0.00457033940055,0.0698619592221,0.999999974643,5.05037561787e-05,-0.000212511640875,-5.47918287449e-05,1793250340838614272
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.585999488,746,720.585999488,691,666,642,889.414000512,787.414000512,820,653.585999488,631,656.585999488,0.425125777821,0.00457690128152,0.0698540529135,0.999999973508,5.85894701643e-05,-0.000215452834285,-5.596181116e-05,1793250340855280896
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.012762458,746,720.012762458,691,666,642,889.987237542,787.987237542,820,653.012762458,631,656.012762458,0.426091312324,0.00458694955101,0.0698782487418,0.999999981251,8.09870761187e-05,-0.000166550687787,-5.656745666e-05,1793250340871947520
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+171,2.850000000,POSE1_TO_POSE2_PRESS,768.833288864,746,721,691,667.666577728,642,889,788,820,653,632,656,0.428051457355,0.00458848254846,0.0700037765281,0.99999999335,0.000103021854044,5.30421970135e-06,-5.15549023868e-05,1793250340905280512
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+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,721,691,666,642,889.322733596,788,820,653,631.677266404,656,0.43002265441,0.0045975999628,0.0700451417064,0.999999991651,9.25654263581e-05,7.23253917055e-05,-5.38435129599e-05,1793250340938613760
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+181,3.016666667,POSE1_TO_POSE2_PRESS,769,747,721,692,666.091343804,642,889,787.045671902,820.045671902,653,632,656,0.437422154607,0.00458026476885,0.0700346360228,0.999999991969,8.51607214644e-05,7.46469906834e-05,-5.68927532584e-05,1793250341071947008
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746.45959883,721,692,666,642,889.54040117,787,821.080802339,653,631.45959883,656.54040117,0.438254170543,0.0045808739281,0.0700012111746,0.999999994639,7.66305440597e-05,3.71046145457e-05,-5.89401149107e-05,1793250341088613376
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,721,692.125867748,666,642,890,787,821.874132252,653,631,656.874132252,0.439056813253,0.00458269646216,0.0699545597983,0.999999995222,7.1997753826e-05,-2.7067560029e-05,-6.03218282877e-05,1793250341105280000
+184,3.066666667,POSE1_TO_POSE2_PRESS,769,746,721,692.705836667,666,642,890,787,821.294163333,653,631,656.294163333,0.439788094594,0.00458889516118,0.0698737788302,0.999999980253,8.61899621457e-05,-0.000169190783118,-5.8654186683e-05,1793250341121946880
+185,3.083333333,POSE1_TO_POSE2_PRESS,769,746,721,693,665.716027801,642,890,787.283972199,821,653.283972199,631.283972199,656,0.44056789355,0.00459566369564,0.0698304857105,0.999999964004,0.000101876826811,-0.000241239963731,-5.84434802877e-05,1793250341138613504
+186,3.100000000,POSE1_TO_POSE2_PRESS,769,746,721,693,665.139779304,642,890,787.860220696,821,653.860220696,631.860220696,656,0.44139762886,0.00460301872866,0.0698257766879,0.999999962043,0.000119102056041,-0.000241165945922,-5.97323147521e-05,1793250341155280128
+187,3.116666667,POSE1_TO_POSE2_PRESS,769.435197228,746,721,693,665.435197228,641.564802772,890,787.564802772,821,654,632,656.435197228,0.442245434787,0.00461048582748,0.0698643380837,0.999999974227,0.000117103569518,-0.000185127380397,-5.96718299603e-05,1793250341171946752
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.345781627,721,693.654218373,663.654218373,640.654218373,889.654218373,787,822,653.345781627,631.654218373,656,0.445852485799,0.00464010917209,0.0697856885944,0.999999930508,0.00016683341849,-0.000328415005958,-5.74028645891e-05,1793250341255279872
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746,721,694,662.330107404,639.330107404,890,787,822.669892596,654,632,656.330107404,0.4482896079,0.0046564190649,0.069688767577,0.99999985831,0.000197722418171,-0.000490927462997,-5.72401634921e-05,1793250341321946880
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+198,3.300000000,POSE1_TO_POSE2_PRESS,769.826414124,746,721,694,661.173585876,639,890,787,823,654,631.173585876,656,0.449469940371,0.00466235606326,0.0697125019244,0.999999873306,0.000211811088009,-0.000453160271666,-5.62966185355e-05,1793250341355279872
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+224,3.733333333,POSE1_TO_POSE2_PRESS,769.09954927,746.09954927,720.09954927,694.90045073,653.09954927,637.09954927,890,786,824,654,632,656.09954927,0.455989945344,0.00474757108383,0.0695319093395,0.999999697693,0.000247339999252,-0.000734153342381,-6.67551462953e-05,1793250341788613888
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+226,3.766666667,POSE1_TO_POSE2_PRESS,769.921865318,746.078134682,720,694.921865318,653,637,890,786,823.921865318,654,631.078134682,656.921865318,0.456057547419,0.00474626566574,0.0695305498894,0.999999696871,0.000247346644439,-0.000735237626693,-6.71104724475e-05,1793250341821947136
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.343086543,746.656913457,720,694.343086543,653,637,890,786,823.343086543,654,631.656913457,656.343086543,0.456080480846,0.00474871672735,0.0695311416922,0.999999697099,0.000248341063654,-0.000734549346959,-6.75782148931e-05,1793250341838614016
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+229,3.816666667,POSE1_TO_POSE2_PRESS,769.807544457,746.192455543,720.807544457,694,653,637,890,786,823.807544457,654,632,656,0.456110803934,0.00474855977303,0.0695286049502,0.999999694276,0.00024881861016,-0.000738334345733,-6.63278031248e-05,1793250341871947264
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+235,3.916666667,POSE1_TO_POSE2_PRESS,770,746.292536321,720.292536321,694.707463679,653,637,890,786,824,654,632,656.707463679,0.456132405311,0.00474843396724,0.0695214974056,0.99999968625,0.000252417249091,-0.000747957159229,-6.59182537638e-05,1793250341971947008
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,746.866788367,720.866788367,694.133211633,653,637,890,786,824,654,632,656.133211633,0.456132235195,0.00475014624754,0.0695208498428,0.99999968564,0.000252987084527,-0.000748562181516,-6.61286804804e-05,1793250341988613888
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+238,3.966666667,POSE1_TO_POSE2_PRESS,770,746,720.015291566,694,653.015291566,637,891,786,823.015291566,654,631.015291566,656.015291566,0.456136431052,0.00474872908629,0.0695226862062,0.999999686679,0.000254768170999,-0.000746626825014,-6.54478001947e-05,1793250342021947136
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,746,720.6085108,694,653.6085108,637,891,786,823.6085108,654,631.6085108,656.6085108,0.456135415252,0.0047482654359,0.0695222265535,0.999999685723,0.000253364660703,-0.000748387933804,-6.53952539718e-05,1793250342038613760
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+241,4.016666667,POSE1_TO_POSE2_PRESS,770,746,721,694,653.219775189,637,890.219775189,786,824,654,632,656.219775189,0.456132774396,0.00475166851442,0.0695198475551,0.999999681803,0.000255939355446,-0.000752659209779,-6.62820994108e-05,1793250342071946752
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,746,721,694,653,637,890,786,824,654,632,656.354746142,0.456133551547,0.00475243481417,0.0695201120453,0.999999681778,0.000257024744133,-0.000752313015704,-6.6394119812e-05,1793250342088613376
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+251,4.183333333,HOLD_POSE2,770,746,721,694,652,636,891,786,824,654,632,656,0.45613770077,0.00474876047283,0.0695209542014,0.999999684323,0.000252981649411,-0.000750409291771,-6.51205494277e-05,1793250342250635776
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+256,4.266666667,HOLD_POSE2,770,747,720.115951891,695,652.884048109,637,890,786,823.884048109,654,631.884048109,657,0.456139506982,0.0047496888748,0.069521581984,0.99999968365,0.000256978991127,-0.000749971517128,-6.4834449269e-05,1793250342333969408
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+262,4.366666667,HOLD_POSE2,769,746,720.632441117,694,652,637,890.632441117,786,824,654,631,656,0.456138791888,0.00474800757177,0.0695203654876,0.999999683996,0.000254035656522,-0.000750548919371,-6.4415294411e-05,1793250342433969152
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.117595401,746,721,691,665.117595401,641,888,787.882404599,819,653.882404599,631,656,0.426613019506,0.00453463889104,0.0698465810418,0.999999966551,9.22098456335e-05,-0.000239501507175,3.21615951577e-05,1793250343655016192
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.460906915,746,721,690.539093085,665,641,888.460906915,788,819,653.539093085,631,656,0.425715102639,0.00452798571182,0.0698586741339,0.999999968839,9.29271185377e-05,-0.000229298629572,3.32865222576e-05,1793250343671682816
+336,5.600000000,POSE2_TO_POSE3_RETREAT,769,746,721,690,664.959318073,641,888.959318073,787.959318073,819,653,631,656,0.424810729411,0.00452119157161,0.0698521696067,0.999999963986,9.67044624891e-05,-0.000248049513874,3.38825658181e-05,1793250343688349184
+337,5.616666667,POSE2_TO_POSE3_RETREAT,769,746,721,690,664.373896174,641,888.373896174,787.373896174,819,653,631,656,0.423848813798,0.00451247393627,0.0698184729289,0.999999952061,8.10148215329e-05,-0.000297069321765,3.26184645505e-05,1793250343705015808
+338,5.633333333,POSE2_TO_POSE3_RETREAT,769,746,721,689.790426528,664,641,888,787.209573472,819,653,631,656,0.42286263393,0.00450591461777,0.0697697387444,0.999999925695,6.95269770702e-05,-0.000377803917698,3.2245030115e-05,1793250343721682688
+339,5.650000000,POSE2_TO_POSE3_RETREAT,769,746,721,689.21040762,664,641,888,787.78959238,819,653,631,656,0.421833564018,0.00450317037339,0.0696944240159,0.999999864892,6.54662924072e-05,-0.000514598087725,3.3445952194e-05,1793250343738349568
+340,5.666666667,POSE2_TO_POSE3_RETREAT,769,746,721,689,664.366871995,641,887.633128005,787.633128005,819,653,631.366871995,656,0.420915735746,0.00449388876937,0.0696907506198,0.999999864385,6.02754819135e-05,-0.000516239250092,3.30641401794e-05,1793250343755016448
+341,5.683333333,POSE2_TO_POSE3_RETREAT,769,746,721,689,664.942592186,641,887.057407814,787.057407814,819,653,631.942592186,656,0.420061233754,0.00448088566107,0.0697278602893,0.999999900798,5.44413282699e-05,-0.000440942230826,3.17813295682e-05,1793250343771683072
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.486479472,746,721,689,665,641,887,787,819,653,631.486479472,656,0.419279893584,0.00447403401134,0.0698009605665,0.999999946035,3.20194617909e-05,-0.000325363702874,3.22982466259e-05,1793250343788349440
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.08793202,746,721,688.91206798,664.91206798,641,887,787,819,653,631,656,0.418497549327,0.00446767383818,0.0698671599518,0.999999974378,1.01324239565e-05,-0.000223673378716,3.33458629908e-05,1793250343805015808
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768.68561232,746,721,688.31438768,664.31438768,641,887,787,819,653,631,656,0.417662408687,0.00446021307092,0.0698702455688,0.999999973265,1.9964436749e-06,-0.0002283578949,3.6314417491e-05,1793250343821682432
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,721,687.726932232,664,641,886.726932232,787,819,653,631,656,0.416821462657,0.00445309718949,0.069854097555,0.999999968549,3.21323283902e-06,-0.00024814686674,3.62588150714e-05,1793250343838349056
+346,5.766666667,POSE2_TO_POSE3_RETREAT,769,746,721,687.150823984,664,641,886.150823984,787,819,653,631,656,0.415974074076,0.00444636405005,0.0698166047712,0.999999958824,1.48093791095e-05,-0.000284698202574,3.28471152564e-05,1793250343855015680
+347,5.783333333,POSE2_TO_POSE3_RETREAT,769,746,721,687,664.422519876,641.422519876,886,787,819,653,631,656,0.415115308203,0.00444248950147,0.0697829615419,0.999999941423,9.51571057158e-07,-0.000340788202118,3.18941739768e-05,1793250343871682560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,769,746,721,687,664.994883413,641.994883413,886,787,819,653,631,656,0.414252507387,0.00443962873119,0.0697506835268,0.999999917723,-2.19332994045e-05,-0.000403807451129,3.18132134833e-05,1793250343888349184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,746,721,687,664.41405839,641.41405839,886,786.41405839,819,653,631.58594161,656,0.413500684763,0.00445703989214,0.0697484736888,0.999999914642,9.03021931064e-06,-0.000411730453794,3.33515176796e-05,1793250343905016320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.826304475,746,721,686.826304475,664,641,886.173695525,786.173695525,818.826304475,653,632,656,0.412786035318,0.0044759275056,0.0697643221557,0.999999925036,3.80642187238e-05,-0.000383857052849,3.36675306762e-05,1793250343921682944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.246666939,746,721,686.246666939,664,641,886.753333061,786.753333061,818.246666939,653,632,656,0.412155923286,0.00449783837939,0.0698217406428,0.999999960231,6.14536068804e-05,-0.000273485710459,3.10928045638e-05,1793250343938349312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.334689392,745.665310608,720.665310608,686,664,641,886.665310608,787,818.334689392,653,631.665310608,656,0.411510813242,0.00449873581714,0.0698609268564,0.999999976896,5.47997942202e-05,-0.000205540006402,3.09466862464e-05,1793250343955015936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.917318985,745.082681015,720.082681015,686,664,641,886.082681015,787,818.917318985,653,631.082681015,656,0.410854592606,0.00448406635585,0.0698866064731,0.999999984849,2.58897710086e-05,-0.000169023514486,3.25996975696e-05,1793250343971682560
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745,720,686,664,641,886,787,819,653,631,656,0.410155714151,0.00447878630071,0.0698572731336,0.99999997417,3.48082229179e-05,-0.000222310332765,3.20535268044e-05,1793250343988349440
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745.056297054,720,686.056297054,664,641,886,787,819,653,631,656,0.409457562605,0.00447533899203,0.0698192167762,0.999999956455,4.69485111712e-05,-0.000289675590433,3.11970435157e-05,1793250344005016064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.645783006,720,686.645783006,664,641,886,787,819,653,631,656,0.408833110658,0.00447454294985,0.0697847117731,0.999999937912,3.03519151212e-05,-0.00034971840189,3.08461806212e-05,1793250344021682944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.768513509,720,687,664.231486491,641,886.231486491,787,819,653,631,656,0.408241209674,0.00447473368001,0.0697682311702,0.999999928661,1.98629592962e-05,-0.000375997146205,3.01516287537e-05,1793250344038349824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745.188504895,720,687,664.811495105,641,886.811495105,787,819,653,631,656,0.407698316922,0.00447641007791,0.0697788878008,0.999999937653,1.85695643282e-05,-0.000351441281436,2.89396247773e-05,1793250344055016192
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745.388205172,720,686.223589655,664.611794828,641,886.611794828,787,819,653,631,656,0.407179402705,0.00447981047482,0.0697945368276,0.999999945157,3.25723436352e-05,-0.000328292859088,2.91463163994e-05,1793250344071682816
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745.963327076,720,685.073345847,664.036672924,641,886.036672924,787,819,653,631,656,0.406672033854,0.00448404095937,0.069812589642,0.999999951331,5.39400707833e-05,-0.000305822103166,3.00360949925e-05,1793250344088349440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,745.463550569,720,685.536449431,664,641,886,787,818.463550569,653,631,656,0.406171577458,0.00448733084191,0.069806637935,0.999999946751,4.83796504854e-05,-0.000321290695776,3.05043297094e-05,1793250344105016320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745,720.113885279,686,664.113885279,641,886,787,818.113885279,653,631.113885279,656,0.405688343378,0.00448995787097,0.0698011767034,0.999999942697,4.14369900264e-05,-0.000334585552659,3.06681391753e-05,1793250344121682944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,745,720.710169396,686,664.710169396,641,886,787,818.710169396,653,631.710169396,656,0.405276065746,0.00449004852532,0.0698047182469,0.999999945195,3.64080510341e-05,-0.00032772749136,2.96640684653e-05,1793250344138349568
+364,6.066666667,POSE2_TO_POSE3_RETREAT,769.295460877,745,720.704539123,685.704539123,664.704539123,641,886,787,819,653,631.704539123,656,0.404893976113,0.0044893605174,0.0698154815197,0.999999951914,3.22804266994e-05,-0.000307036367298,2.9295883187e-05,1793250344155015936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769.870355957,745,720.129644043,685.129644043,664.129644043,641,886,787,819,653,631.129644043,656,0.404540437016,0.00448793608415,0.0698330747937,0.999999961807,2.90052273215e-05,-0.000273262526907,2.95290910676e-05,1793250344171682560
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769.545612079,745,720,685,664,641,886,787,818.545612079,653,631.454387921,656,0.404199495497,0.00448447634049,0.0698452952119,0.999999967927,2.24564002827e-05,-0.000250550998643,2.9425250327e-05,1793250344188348928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787,818.040476083,653,631.959523917,656,0.403863255324,0.00448022000312,0.0698543169243,0.999999972098,1.42382746072e-05,-0.000233992666501,2.9141205021e-05,1793250344205015808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,664,641,886,787,818.618539658,653,631.381460342,656,0.403540738965,0.00447325460196,0.0698416326684,0.999999966743,-3.49100200561e-06,-0.000256378336481,2.77671926527e-05,1793250344221682432
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.197607698,641,885.802392302,787,818.802392302,653,631,656,0.403231821879,0.00446764969417,0.0698303945792,0.99999996128,-1.80210174486e-05,-0.000276381742101,2.699019493e-05,1793250344238349056
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.778624587,641,885.221375413,787,818.221375413,653,631,656,0.402949290874,0.00446468449034,0.0698219624225,0.999999956716,-2.63436505019e-05,-0.00029176294667,2.73715576476e-05,1793250344255015680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.645625964,641,885,787,818.354374036,653,631.354374036,656,0.402697293881,0.00446239747876,0.0698153165776,0.99999995336,-3.05344053413e-05,-0.00030256152494,2.8362701986e-05,1793250344271682048
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.073118804,641,885,787,818.926881196,653,631.926881196,656,0.402464091914,0.00446052792466,0.0698097702869,0.999999950823,-3.21818045002e-05,-0.000310539292558,2.97291943192e-05,1793250344288348672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,720.498613384,684.501386616,664.498613384,641,885,787,818.501386616,653,632,656,0.402258373784,0.00445618793384,0.0698046983947,0.999999947978,-3.46794622773e-05,-0.000319080193728,3.20671596092e-05,1793250344305016320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,744.926495825,720.926495825,684.073504175,664.926495825,641,885,787,818,653,631.926495825,656,0.402061130362,0.00445199879629,0.0698005161244,0.999999945468,-3.61004900987e-05,-0.000326440957506,3.4592000257e-05,1793250344321683712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,744.328245441,720.328245441,684.671754559,664.328245441,641,885,787,818,653,631.328245441,656,0.401895659778,0.00445146886801,0.0698021889871,0.999999946137,-2.89467106805e-05,-0.000324788100515,3.74354947371e-05,1793250344338350592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,744.259469261,720,685,664,641,885,787,818,653,631.259469261,656,0.401745344431,0.00445885170523,0.069802801693,0.999999946876,1.83011632141e-05,-0.000323045472154,3.94183930397e-05,1793250344355017216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,744.834375685,720,685,664,641,885,787,818,653,631.834375685,656,0.40161345334,0.00447585410311,0.0698021255649,0.999999941072,0.000114291486398,-0.000321193706559,4.03550628725e-05,1793250344371683072
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.408536763,641,885.408536763,787,818,653,631.591463237,656,0.401502325261,0.00449022492702,0.0698022140119,0.999999936739,0.000150946576273,-0.000319527325401,4.05016011959e-05,1793250344388349440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745,720,685,664.982396208,641,885.982396208,787,818,653,631.017603792,656,0.401399599358,0.00450353083076,0.0698026118597,0.999999935264,0.000163590459285,-0.000317935964582,4.03283968575e-05,1793250344405016064
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.426706197,664.426706197,641,886,787,818,653,631.573293803,656,0.401312881281,0.00449469745364,0.0698000980601,0.999999943248,9.49120758698e-05,-0.000322240036755,2.56473768054e-05,1793250344421682688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.16022811,664,641,885.83977189,787,818.16022811,653,631.83977189,656,0.401233603277,0.00448624173377,0.0697983415364,0.999999946028,4.09932257202e-05,-0.00032563592116,1.50012486161e-05,1793250344438349056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.735499393,664,641,885.264500607,787,818.735499393,653,631.264500607,656,0.401172285252,0.00448057915935,0.0697987852899,0.999999946159,3.19728718892e-05,-0.000326196021817,1.59961035653e-05,1793250344455015936
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.68687358,664,641,885.31312642,787,818.68687358,653,631,655.68687358,0.401123058003,0.0044813889086,0.0698006299976,0.999999947427,3.22503482712e-05,-0.000322225483822,1.66303709686e-05,1793250344471682816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.107241487,664,641,885.892758513,787,818.107241487,653,631,655.107241487,0.401084121354,0.00448770732995,0.0698036670743,0.999999949615,4.04413190863e-05,-0.000314398864674,1.69577380723e-05,1793250344488349952
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745,720,684,664,641,885.530587274,787,818,653,631,655.469412726,0.401056032534,0.00448527972388,0.0698060076064,0.999999951402,4.01274416364e-05,-0.000308626561106,1.83054039465e-05,1793250344505016832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745,720,684.046681462,664,641,885,787,818.046681462,653,631.046681462,656,0.401030882163,0.00448130606826,0.069808164299,0.999999952959,3.82666352017e-05,-0.000303686576337,1.9780491688e-05,1793250344521683456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,720,684.639036345,664,641,885,787,818.639036345,653,631.639036345,656,0.401011293412,0.00448246941046,0.0698100204532,0.999999953051,4.08925337985e-05,-0.000303024294878,2.00374975067e-05,1793250344538349824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,720,684.774776952,664,641,885,787,818.774776952,653,631.774776952,656,0.400996918326,0.00448284931793,0.0698125003017,0.999999953957,4.18203872411e-05,-0.000299863734106,2.04437160012e-05,1793250344555016192
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5a29dd613e4b296ec749ebfb46da6633e1d512e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,415 @@
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+193,3.216666667,pose1_to_pose2_press,0.614765730242,0.0101500766055,1.06003349181,0.585336409837,0.018822714417,1.05970488805
+194,3.233333333,pose1_to_pose2_press,0.615297789488,0.0101501766917,1.06003353958,0.585868467431,0.0188228089647,1.05970493517
+195,3.250000000,pose1_to_pose2_press,0.615819312951,0.0101501838522,1.06003358792,0.58638999146,0.018822818154,1.05970498354
+196,3.266666667,pose1_to_pose2_press,0.616330326405,0.0101501492021,1.06003343723,0.586901005112,0.0188227844941,1.05970483747
+197,3.283333333,pose1_to_pose2_press,0.616831982162,0.010150064497,1.06003325116,0.587402661326,0.0188227015115,1.05970465291
+198,3.300000000,pose1_to_pose2_press,0.617322131877,0.0101502157829,1.06003349033,0.587892808445,0.0188228440005,1.05970488899
+199,3.316666667,pose1_to_pose2_press,0.617783025399,0.0101502127914,1.06003368779,0.588353701491,0.0188228387661,1.05970506633
+200,3.333333333,pose1_to_pose2_press,0.61821423457,0.0101503058137,1.0600334827,0.588784911282,0.0188229348736,1.05970488317
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+202,3.366666667,pose1_to_pose2_press,0.618986733236,0.0101502891028,1.06003360667,0.589557408501,0.0188229134184,1.05970500402
+203,3.383333333,pose1_to_pose2_press,0.619337036204,0.0101502737379,1.06003360591,0.589907712704,0.0188229023982,1.0597050033
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+206,3.433333333,pose1_to_pose2_press,0.620309447409,0.0101501228638,1.0600334075,0.590880125253,0.0188227564838,1.05970480377
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+208,3.466666667,pose1_to_pose2_press,0.620878575495,0.0101501796759,1.0600336278,0.591449251383,0.0188228066084,1.05970501551
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+213,3.550000000,pose1_to_pose2_press,0.621913431639,0.0101501674675,1.06003352659,0.592484109462,0.0188228018462,1.05970492333
+214,3.566666667,pose1_to_pose2_press,0.622063625043,0.0101501477449,1.0600334922,0.592634302849,0.0188227820984,1.05970488675
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+229,3.816666667,pose1_to_pose2_press,0.623029282118,0.010150171934,1.06003360557,0.593599959468,0.0188228053114,1.05970500235
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+233,3.883333333,pose1_to_pose2_press,0.623047549857,0.0101501162135,1.06003359808,0.59361822815,0.0188227528072,1.05970499368
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+240,4.000000000,pose1_to_pose2_press,0.6230505068,0.0101501679095,1.06003358547,0.593621183522,0.0188227992056,1.05970498236
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+267,4.450000000,pose2_to_pose3_retreat,0.623052186408,0.0101501513591,1.06003376254,0.593622865039,0.0188227887912,1.05970515232
+268,4.466666667,pose2_to_pose3_retreat,0.623052058715,0.0101499215637,1.06003350866,0.593622738602,0.0188225633749,1.05970490155
+269,4.483333333,pose2_to_pose3_retreat,0.623051906543,0.0101499794007,1.06003350774,0.593622585716,0.0188226188003,1.05970490097
+270,4.500000000,pose2_to_pose3_retreat,0.623051865188,0.0101499951186,1.06003350749,0.593622544168,0.0188226338628,1.05970490081
+271,4.516666667,pose2_to_pose3_retreat,0.623051841458,0.010150004138,1.06003350735,0.593622520326,0.0188226425061,1.05970490072
+272,4.533333333,pose2_to_pose3_retreat,0.62305183021,0.010150008413,1.06003350728,0.593622509025,0.0188226466029,1.05970490068
+273,4.550000000,pose2_to_pose3_retreat,0.623051800953,0.0101500195329,1.06003350711,0.593622479631,0.0188226572591,1.05970490057
+274,4.566666667,pose2_to_pose3_retreat,0.623051279181,0.0101500742391,1.0600337852,0.593621957207,0.01882270941,1.05970516975
+275,4.583333333,pose2_to_pose3_retreat,0.623049126109,0.010150162738,1.06003388659,0.593619803865,0.0188227967555,1.05970526524
+276,4.600000000,pose2_to_pose3_retreat,0.623042833226,0.0101500949878,1.06003336137,0.593613510538,0.0188227283174,1.05970476167
+277,4.616666667,pose2_to_pose3_retreat,0.623030938616,0.0101500327997,1.06003337622,0.593601616865,0.0188226691712,1.05970477188
+278,4.633333333,pose2_to_pose3_retreat,0.623009978638,0.0101502003885,1.06003361223,0.593580654595,0.018822828751,1.05970500159
+279,4.650000000,pose2_to_pose3_retreat,0.62297948139,0.0101501209966,1.06003353752,0.593550158212,0.0188227524323,1.05970493051
+280,4.666666667,pose2_to_pose3_retreat,0.622938530218,0.0101502715327,1.06003367888,0.593509206101,0.0188228995706,1.05970506644
+281,4.683333333,pose2_to_pose3_retreat,0.622888988308,0.0101502359376,1.06003350413,0.593459665334,0.0188228679814,1.05970489788
+282,4.700000000,pose2_to_pose3_retreat,0.622831447313,0.0101502875617,1.06003348667,0.593402123233,0.0188229159695,1.0597048852
+283,4.716666667,pose2_to_pose3_retreat,0.622766788338,0.0101503068314,1.06003355579,0.593337464255,0.0188229350407,1.05970495111
+284,4.733333333,pose2_to_pose3_retreat,0.622694762609,0.0101502006714,1.06003358715,0.593265439684,0.0188228325956,1.05970498051
+285,4.750000000,pose2_to_pose3_retreat,0.622612489136,0.0101501624133,1.0600335426,0.593183166005,0.0188227937532,1.05970493962
+286,4.766666667,pose2_to_pose3_retreat,0.622518986526,0.0101501829663,1.06003370577,0.593089664471,0.0188228179342,1.05970510078
+287,4.783333333,pose2_to_pose3_retreat,0.622411239181,0.0101503354469,1.06003337852,0.592981912969,0.0188229563563,1.05970477683
+288,4.800000000,pose2_to_pose3_retreat,0.622289286811,0.0101501642554,1.06003339027,0.592859963474,0.0188227946549,1.05970478275
+289,4.816666667,pose2_to_pose3_retreat,0.622152508785,0.0101500658093,1.06003340257,0.592723187543,0.0188227031734,1.05970479295
+290,4.833333333,pose2_to_pose3_retreat,0.622001438764,0.0101500944068,1.0600336069,0.59257211669,0.0188227289086,1.0597049985
+291,4.850000000,pose2_to_pose3_retreat,0.621836431963,0.0101501444952,1.06003370434,0.592407109419,0.0188227773374,1.05970509635
+292,4.866666667,pose2_to_pose3_retreat,0.621657330831,0.0101501448754,1.0600336353,0.592228008959,0.0188227798905,1.0597050266
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+295,4.916666667,pose2_to_pose3_retreat,0.621023748002,0.0101503065122,1.06003352392,0.591594423493,0.0188229323307,1.05970491773
+296,4.933333333,pose2_to_pose3_retreat,0.620775068228,0.0101501521318,1.06003347679,0.591345745146,0.0188227828255,1.05970487481
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+305,5.083333333,pose2_to_pose3_retreat,0.617531002967,0.0101501875747,1.06003354504,0.588101681488,0.0188228225294,1.059704945
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+307,5.116666667,pose2_to_pose3_retreat,0.616611135507,0.0101500890249,1.06003366341,0.587181813457,0.018822721414,1.05970505567
+308,5.133333333,pose2_to_pose3_retreat,0.616109037327,0.0101499803365,1.0600337294,0.586679717186,0.0188226190964,1.05970512173
+309,5.150000000,pose2_to_pose3_retreat,0.615582943611,0.01015007014,1.06003358361,0.586153624489,0.0188227127522,1.05970498789
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1384dae6fdbe5e63a928b91dd91477a2676099df
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce51e00feadfa0a879c5057227473c7bc9c83191ffb9225c57c3e7266d4698a7
+size 25880826
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df901023648655ba5700e61661a71bc8750d63b9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,409 @@
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+3,0.050000000,BASELINE,768.278984071,745.278984071,722,685.278984071,664.278984071,641.278984071,885,787,818.278984071,653,631.721015929,656,0.401037151844,0.00447396109726,0.0798648892513,0.999999982905,0.000103719981125,-0.00014339385922,5.35811211998e-05,1793250346293472256
+4,0.066666667,BASELINE,768.303898526,745.303898526,721.696101474,685,664.303898526,641,885.303898526,787,818.303898526,653,631.696101474,656,0.401037118933,0.00447381372125,0.0798647376074,0.999999982787,0.000104221748319,-0.00014385604888,5.35739326764e-05,1793250346310138880
+5,0.083333333,BASELINE,768.898430823,745.898430823,721.101569177,685,664.898430823,641,885.898430823,787,818.898430823,653,631.101569177,656,0.401036355222,0.0044749238046,0.0798640793812,0.999999982348,0.000107149767083,-0.000144654353188,5.38261925323e-05,1793250346326805504
+6,0.100000000,BASELINE,769,746,721.478845691,685,665,641,885.521154309,787,819,653,631.478845691,656,0.401036862213,0.00447495346673,0.0798647763702,0.999999982731,0.000105912525978,-0.000143003765622,5.35839480796e-05,1793250346343472128
+7,0.116666667,BASELINE,769,746,722,685,664.943995586,641,885.056004414,787,818.943995586,653,631.943995586,656,0.401037493429,0.00447479034571,0.0798655968398,0.999999983201,0.00010402788234,-0.000141202763967,5.3271793063e-05,1793250346360139008
+8,0.133333333,BASELINE,769,746,722,685,664.370049817,641,885.629950183,787,818.370049817,653,631.370049817,656,0.401036852192,0.00447490305094,0.0798649769416,0.999999982986,0.000104092760696,-0.000142677028979,5.32553606797e-05,1793250346376805632
+9,0.150000000,BASELINE,769,746,721.789417969,685,664,641,885.789417969,787,818,653,631,656,0.401036917209,0.00447458271365,0.0798650223602,0.999999982983,0.000103573473473,-0.000143052722797,5.33129341485e-05,1793250346393472000
+10,0.166666667,BASELINE,769,746,721.196651655,685,664,641,885.196651655,787,818,653,631,656,0.401038264006,0.00447347644967,0.0798662752587,0.999999983365,0.00010199398703,-0.000141434625047,5.35048204728e-05,1793250346410138624
+11,0.183333333,BASELINE,769,746,721,685,664.385149128,641,885.385149128,787,818.385149128,653,631.385149128,656,0.401037410605,0.00447344747986,0.0798661532173,0.999999983258,0.000102441666633,-0.000141847966545,5.35625656692e-05,1793250346426805760
+12,0.200000000,BASELINE,769,746,721,685,664.961506109,641,885.961506109,787,818.961506109,653,631.961506109,656,0.401035464912,0.00447395333423,0.0798653485851,0.999999982906,0.000103895735678,-0.000143269818918,5.35537163215e-05,1793250346443472640
+13,0.216666667,BASELINE,768.463126876,746,721.536873124,685.536873124,665,641,886.536873124,787,819,653,632,656,0.401037249397,0.00447487796885,0.0798665563189,0.999999982949,0.000105999006267,-0.000141533324374,5.3248620766e-05,1793250346460139008
+14,0.233333333,BASELINE,768.114633908,745.885366092,721.885366092,686,665,641.114633908,886.885366092,787,819,653,632,656,0.401038447476,0.00447562869575,0.0798673710821,0.999999982964,0.000107357263539,-0.000140486125933,5.30058267899e-05,1793250346476805632
+15,0.250000000,BASELINE,768.702570846,745.297429154,721.297429154,686,665,641.702570846,886.297429154,787,819,653,632,656,0.40103612215,0.00447553764249,0.0798659687018,0.999999982774,0.000105447659799,-0.000143218175371,5.31078033537e-05,1793250346493472256
+16,0.266666667,BASELINE,769,745.286451874,721,686,665,642,885.713548126,787,819,653,632,656,0.401035207577,0.00447527625481,0.0798655064824,0.99999998281,0.000104069733407,-0.000143952448637,5.31700108668e-05,1793250346510139136
+17,0.283333333,BASELINE,769,745.866180325,721,686,665,642,885.133819675,787,819,653,632,656,0.401035737367,0.0044748404745,0.0798660068231,0.999999983083,0.000103236151666,-0.000142641348642,5.31915018279e-05,1793250346526805760
+18,0.300000000,BASELINE,769,746,721,686,665,641.558576804,885.441423196,787,818.558576804,653,632,656,0.40103614034,0.00447367946507,0.0798659603434,0.99999998316,0.000102823824999,-0.000142342424725,5.33378971001e-05,1793250346543472640
+19,0.316666667,BASELINE,769,745.984608059,721.015391941,686,665,641,886,787,818.015391941,653,632,656,0.401036526249,0.00447237118367,0.0798657751305,0.999999983183,0.000102529760327,-0.000142337183604,5.35041930504e-05,1793250346560139520
+20,0.333333333,BASELINE,769,745.408012974,721.591987026,686,665,641,886,787,818.591987026,653,632,656,0.401037677625,0.00447362877022,0.0798665149567,0.999999983321,0.000101938212676,-0.000141964533655,5.30293692329e-05,1793250346576805888
+21,0.350000000,BASELINE,768.82787572,745.17212428,722,686,665,641,886,787,819,653,632,656,0.4010387143,0.00447470194562,0.0798671510561,0.999999983377,0.000102457275637,-0.000141265300381,5.28494581714e-05,1793250346593472512
+22,0.366666667,BASELINE,768.239165567,745.760834433,722,686,665,641,886,787,819,653,632,656,0.401039473368,0.00447532879751,0.0798675361098,0.999999983224,0.00010566430745,-0.00013977564992,5.33833133441e-05,1793250346610139136
+23,0.383333333,BASELINE,768.345558718,745.654441282,722,686,665,641,886,787,819,653,632,656,0.401039899186,0.00447467436306,0.079868055319,0.999999983304,0.000105870127519,-0.000139033695324,5.34126145802e-05,1793250346626805760
+24,0.400000000,BASELINE,768.92755585,745.07244415,722,686,665,641,886,787,819,653,632,656,0.401040096987,0.00447314324608,0.0798686663204,0.999999983547,0.000104022456835,-0.000138803329535,5.3096689644e-05,1793250346643472384
+25,0.416666667,BASELINE,768.49568722,745,721.49568722,685.49568722,664.49568722,641,885.49568722,787,819,653,632,656,0.401038584079,0.00447404229994,0.079867204344,0.999999983164,0.000105575983179,-0.00014039517333,5.30470558606e-05,1793250346660139008
+26,0.433333333,BASELINE,768,745.080207599,721.080207599,685,664.080207599,641,885.080207599,787,819,653,631.919792401,656,0.401036993186,0.00447490876066,0.0798656986634,0.99999998276,0.000107122882279,-0.000142076866498,5.30852728711e-05,1793250346676805632
+27,0.450000000,BASELINE,768,745.655380035,721.655380035,685,664.655380035,641,885.655380035,787,819,653,631.344619965,656,0.401036421938,0.00447344197821,0.0798657420082,0.999999982808,0.000105644845548,-0.000142714309853,5.34319907257e-05,1793250346693472256
+28,0.466666667,BASELINE,768.236954133,746,721.763045867,685.236954133,665,641,886,787,819,653,631,656,0.401035917888,0.00447289141942,0.0798655648748,0.999999982843,0.000104180520926,-0.000143496918478,5.35624653151e-05,1793250346710138880
+29,0.483333333,BASELINE,768.828097124,746,721.171902876,685.828097124,665,641,886,787,819,653,631,656,0.40103551428,0.00447371039249,0.0798650581803,0.999999982859,0.000102736692667,-0.000144496513876,5.33697087404e-05,1793250346726805504
+30,0.500000000,BASELINE,769,745.590237986,721,686,665,641,886,787,819,653,631.409762014,656,0.401035917523,0.00447525374084,0.0798655885879,0.999999982653,0.000105844054329,-0.000143664939311,5.34035572726e-05,1793250346743473152
+31,0.516666667,BASELINE,769,745.012459459,721,686,665,641,886,787,819,653,631.987540541,656,0.401036651603,0.00447709410794,0.0798665442432,0.999999982333,0.000110817560361,-0.000142082522076,5.35303216929e-05,1793250346760140800
+32,0.533333333,BASELINE,769,745.563939279,721.563939279,686,664.436060721,641,886,787,818.436060721,653,632,656,0.401037396697,0.00447599995191,0.0798669970626,0.999999982644,0.000107888247653,-0.000142139400676,5.35528724714e-05,1793250346776807680
+33,0.550000000,BASELINE,769,745.857358141,722,685.857358141,664.142641859,641,885.857358141,787,818.142641859,653,632,656,0.401037536348,0.00447523079813,0.0798668931529,0.9999999828,0.000105823862055,-0.00014262739922,5.34656487438e-05,1793250346793474816
+34,0.566666667,BASELINE,769,745.271401071,722,685.271401071,664.728598929,641,885.271401071,787,818.728598929,653,632,656,0.401035793597,0.00447567272166,0.0798650934328,0.999999982452,0.000106988894308,-0.000144342984381,5.30443962355e-05,1793250346810140416
+35,0.583333333,BASELINE,769,745.310909782,721.689090218,685,665,641,885.310909782,787,818.689090218,653,632,656,0.401035886737,0.00447621695564,0.0798648510933,0.999999982423,0.00010764964349,-0.000144158369493,5.27668002409e-05,1793250346826806784
+36,0.600000000,BASELINE,769,745.890074717,721.109925283,685,665,641,885.890074717,787,818.109925283,653,632,656,0.401037563895,0.00447684946384,0.0798659524728,0.999999982668,0.00010787529381,-0.000142334248786,5.26131520529e-05,1793250346843473408
+37,0.616666667,BASELINE,768.53423743,746,721.46576257,685.46576257,664.53423743,641,886,787,818,653,631.53423743,656,0.401037078819,0.00447535379121,0.0798657582803,0.999999982561,0.000107561587903,-0.000143096050578,5.32196765717e-05,1793250346860139776
+38,0.633333333,BASELINE,768,746,721.959197364,686,664.040802636,641,886,787,818,653,631,656,0.40103618633,0.00447357170983,0.0798653636886,0.999999982424,0.000106937111474,-0.000144260546157,5.39073433041e-05,1793250346876806144
+39,0.650000000,BASELINE,768,746,721.381964391,686,664.618035609,641,886,787,818,653,631,656,0.401036596945,0.0044745786785,0.0798663246097,0.999999982993,0.00010388807945,-0.000142755014524,5.33205741085e-05,1793250346893472768
+40,0.666666667,BASELINE,768,745.800978751,721,685.800978751,664.800978751,641,885.800978751,787,818,653,631.199021249,656,0.401036313322,0.00447531601657,0.0798664810869,0.999999983146,0.00010303254446,-0.000142427463413,5.29864685206e-05,1793250346910139392
+41,0.683333333,BASELINE,768,745.212652567,721,685.212652567,664.212652567,641,885.212652567,787,818,653,631.787347433,656,0.401034671704,0.00447552593087,0.0798650639937,0.999999982494,0.000106467703373,-0.000144404156957,5.31465975795e-05,1793250346926806016
+42,0.700000000,BASELINE,768.369536447,745.369536447,721,685,664,641,885.369536447,787,818,653,632,656,0.401034877729,0.00447559704512,0.0798651096707,0.99999998241,0.000107493624892,-0.000144146669456,5.33534210016e-05,1793250346943472896
+43,0.716666667,BASELINE,768.948251455,745.948251455,721,685,664,641,885.948251455,787,818,653,632,656,0.401036129623,0.00447558959067,0.0798659833586,0.999999982652,0.000107155781463,-0.000142624508862,5.35866760731e-05,1793250346960140032
+44,0.733333333,BASELINE,769,746,721,685,664,641,886,787,818.526072928,653,632,656,0.401036930821,0.00447583374047,0.0798669023767,0.999999982898,0.000105784098798,-0.000142061626679,5.32194496683e-05,1793250346976806912
+45,0.750000000,BASELINE,769,745.896647233,721,685.103352767,664.103352767,641,886,787,819,653,632,656,0.401037397676,0.0044762214226,0.0798675658743,0.999999983044,0.000104803469014,-0.000141868998365,5.29314762304e-05,1793250346993473536
+46,0.766666667,BASELINE,769,745.321439781,721,685.678560219,664.678560219,641,886,787,819,653,632,656,0.401036540159,0.00447715159556,0.0798670424752,0.99999998274,0.000106071687544,-0.000142936678956,5.32745465694e-05,1793250347010139648
+47,0.783333333,BASELINE,769,745,721,685.739385245,664.739385245,641,886,787,818.739385245,653,631.739385245,656,0.401035671842,0.00447666227279,0.0798664805583,0.99999998259,0.000106249203181,-0.000143831610065,5.33326701413e-05,1793250347026805760
+48,0.800000000,BASELINE,769,745,721,685.148657639,664.148657639,641,886,787,818.148657639,653,631.148657639,656,0.401034789845,0.00447437491769,0.0798658698521,0.999999982635,0.000105045158521,-0.00014450772476,5.30298602815e-05,1793250347043472640
+49,0.816666667,BASELINE,768.566916015,745,721,685.433083985,664.433083985,641,885.566916015,787,818.433083985,653,631.433083985,656,0.401035053896,0.00447496765707,0.0798653769227,0.999999982578,0.000105496376635,-0.000144645273758,5.28376621294e-05,1793250347060139264
+50,0.833333333,BASELINE,768.011698001,745,721,686,664.988301999,641,885.023396002,787,819,653,632,656,0.40103568757,0.0044764943716,0.079864949353,0.999999982492,0.000106472161245,-0.000144578343451,5.2690976501e-05,1793250347076806144
+51,0.850000000,BASELINE,768.585230642,745,721,686,664.414769358,641,886.170461285,787,819,653,632,656,0.401035564042,0.00447636256552,0.0798657587108,0.99999998271,0.000105908206341,-0.000143388875283,5.29437141541e-05,1793250347093473024
+52,0.866666667,BASELINE,769,745,721,686,664.162896013,641,886.837103987,787.162896013,819,653,632,656,0.401035901803,0.00447601415532,0.0798665509018,0.999999982918,0.00010520243175,-0.000142398673044,5.30975409748e-05,1793250347110139904
+53,0.883333333,BASELINE,769,745,721,686,664.751358112,641,886.248641888,787.751358112,819,653,632,656,0.401037444686,0.00447509986655,0.0798672982445,0.999999983103,0.000104126153041,-0.000141929053426,5.29929630788e-05,1793250347126806528
+54,0.900000000,BASELINE,769,745,721,686,665,641.33443893,886,787.66556107,818.66556107,653,632,656,0.401036863717,0.00447442426204,0.0798666887456,0.999999983025,0.000103180048911,-0.000143233264232,5.279753455e-05,1793250347143473152
+55,0.916666667,BASELINE,769,745,721,686,665,641.913582311,886,787.086417689,818.086417689,653,632,656,0.401034728755,0.0044739232996,0.0798650864641,0.99999998275,0.000102329191809,-0.000145835362844,5.25356318434e-05,1793250347160139776
+56,0.933333333,BASELINE,769,745.49121692,721,685.50878308,665,641.50878308,886,787,818,653,632,656,0.401034806918,0.00447543835915,0.0798655614775,0.999999982581,0.000104955477321,-0.000145127518255,5.25430904273e-05,1793250347176806144
+57,0.950000000,BASELINE,769,746,721,685.068140826,665,641,885.931859174,787,818.068140826,653,632,656,0.401035056275,0.00447699509168,0.0798661835184,0.999999982443,0.000107514075514,-0.00014419128845,5.25675923486e-05,1793250347193472768
+58,0.966666667,BASELINE,769,746,721,685.641755346,665,641,885.358244654,787,818.641755346,653,632,656,0.4010336962,0.00447623804362,0.0798651935881,0.999999982473,0.000105046682184,-0.000145867229099,5.23680748233e-05,1793250347210139392
+59,0.983333333,BASELINE,769.222723357,745.777276643,721.222723357,686,665,641,885.222723357,787,819,653,632,656,0.401033424373,0.0044757178962,0.0798649682842,0.999999982561,0.000104044849488,-0.000145977713711,5.23664710545e-05,1793250347226806016
+60,1.000000000,BASELINE,769.815923209,745.184076791,721.815923209,686,665,641,885.815923209,787,819,653,632,656,0.401034962729,0.00447559180753,0.0798660148543,0.999999982755,0.000105480819833,-0.00014348422984,5.26940756292e-05,1793250347243473152
+61,1.016666667,BASELINE,769.602168221,745.397831779,721.602168221,685.602168221,665,641,886,787,819,653,632,656,0.401035032868,0.00447631309564,0.0798659697322,0.999999982628,0.00010611801504,-0.000143898264899,5.26893029782e-05,1793250347260139776
+62,1.033333333,BASELINE,769.025339974,745.974660026,721.025339974,685.025339974,665,641,886,787,819,653,632,656,0.40103444241,0.00447741564404,0.079865433425,0.999999982357,0.00010639581723,-0.000145620480221,5.25349838085e-05,1793250347276806656
+63,1.050000000,BASELINE,769,745.452447339,721,685.547552661,665,641.547552661,886,787,819,653,632,656,0.401034865646,0.00447610724683,0.0798658492483,0.999999982485,0.000105928579423,-0.000145086410506,5.2525053212e-05,1793250347293473024
+64,1.066666667,BASELINE,769,745,721,686,665,642,886,787,818.875924622,653,632,656,0.401035096934,0.00447505003822,0.0798662148477,0.999999982569,0.000105720477482,-0.000144634647885,5.25983419911e-05,1793250347310139392
+65,1.083333333,BASELINE,769,745,721,686,665,642,886,787,818.285064863,653,632,656,0.401034430867,0.00447535458903,0.0798662269122,0.999999982419,0.00010661606086,-0.000144882559965,5.29597512937e-05,1793250347326806016
+66,1.100000000,BASELINE,769,745.299768858,721,686,665.299768858,641.700231142,886,787,818,653,632,656,0.401034861828,0.00447604534499,0.0798664651581,0.999999982457,0.000106931383861,-0.00014439396373,5.29425808183e-05,1793250347343472640
+67,1.116666667,BASELINE,769,745.878985019,721,686,665.878985019,641.121014981,886,787,818,653,632,656,0.401036315447,0.00447709612494,0.0798669142522,0.999999982669,0.000106705782718,-0.000143218787614,5.25724947513e-05,1793250347360139264
+68,1.133333333,BASELINE,768.544386624,746,721.455613376,685.544386624,665.544386624,641,886,787,818.455613376,653,632,656,0.401037078848,0.0044765471047,0.0798672341243,0.999999982765,0.000106594413094,-0.000142557205854,5.27790295408e-05,1793250347376805888
+69,1.150000000,BASELINE,768.031577447,746,721.968422553,685,665,641,885.968422553,787,819,653,631.968422553,656,0.401037544165,0.00447568353868,0.0798674458196,0.9999999828,0.000106627594227,-0.000142159519509,5.31231099786e-05,1793250347393472512
+70,1.166666667,BASELINE,768.607871553,746,721.392128447,685,665,641,885.392128447,787,819,653,631.392128447,656,0.401036012084,0.00447668257243,0.0798663801706,0.999999982319,0.00010863387186,-0.000143974179959,5.3212835752e-05,1793250347410139392
+71,1.183333333,BASELINE,769,746,721.187906375,685,665,641,885.187906375,787,819,653,631.187906375,656,0.401034932557,0.00447717992977,0.079865827822,0.999999982013,0.000110024930137,-0.000145053825538,5.31792459519e-05,1793250347426806016
+72,1.200000000,BASELINE,769,746,721.7759061,685,665,641,885.7759061,787,819,653,631.7759061,656,0.401034816617,0.00447660910963,0.0798663684008,0.99999998209,0.000110106053595,-0.000144568465675,5.28830906171e-05,1793250347443472896
+73,1.216666667,BASELINE,769,745.641511988,721.641511988,685,665,641,885.641511988,787,819,653,632,656,0.401034807079,0.0044770883241,0.0798664356667,0.999999982124,0.000110187801024,-0.000144294018468,5.28104850315e-05,1793250347460139520
+74,1.233333333,BASELINE,769,745.062266411,721.062266411,685,665,641,885.062266411,787,819,653,632,656,0.401034863065,0.0044782141518,0.0798662114656,0.999999982133,0.000110269932691,-0.000144149451687,5.28755418031e-05,1793250347476806144
+75,1.250000000,BASELINE,769,745,721,685,664.486680608,641,885,787,818.486680608,653,632,656,0.401034976204,0.0044762158289,0.0798662042385,0.999999982348,0.000108122456186,-0.00014426235083,5.29393393361e-05,1793250347493472768
+76,1.266666667,BASELINE,769,745,721,685,664,641,885,787,818.088769138,653,632,656,0.401035305277,0.00447402672183,0.0798663726104,0.999999982618,0.000105736372915,-0.000144118265197,5.30424027866e-05,1793250347510139392
+77,1.283333333,BASELINE,769,745,721,685,664,641,885,787,818.665895361,653,632,656,0.401036784418,0.00447285811465,0.0798673632597,0.999999983081,0.000103514966469,-0.000142389797313,5.33623192634e-05,1793250347526806016
+78,1.300000000,BASELINE,769,745,721,685.247269228,664.247269228,641,885,787,819,653,632,656,0.401036491783,0.00447289217935,0.079867118075,0.999999983061,0.000103295291082,-0.000142666923575,5.34291934442e-05,1793250347543472896
+79,1.316666667,BASELINE,769,745,721,685.834482686,664.834482686,641,885,787,819,653,632,656,0.40103376332,0.00447457967011,0.079865173873,0.999999982373,0.000105827583546,-0.000145701328596,5.31481865913e-05,1793250347560140032
+80,1.333333333,BASELINE,769,745,721.417923792,685.582076208,665,641,885.417923792,787,819,653,632,656,0.401034734799,0.00447520082421,0.0798659855343,0.999999982523,0.000105782995149,-0.000144707052741,5.31305148182e-05,1793250347576806400
+81,1.350000000,BASELINE,769,745,721.999884283,685.000115717,665,641,885.999884283,787,819,653,632,656,0.401037158519,0.00447540343718,0.0798678788824,0.999999982999,0.000104726971287,-0.000142131504359,5.32162030558e-05,1793250347593472768
+82,1.366666667,BASELINE,769,745,722,685,665,641,886,787,819,653,631.426750575,656,0.401035339318,0.00447526923494,0.0798666433087,0.99999998261,0.000105340705746,-0.000144408402288,5.31955594449e-05,1793250347610139392
+83,1.383333333,BASELINE,769,745,721.852775244,685.147224756,665,641,885.852775244,787,819,653,631.147224756,656,0.401033776089,0.00447547963796,0.0798656262684,0.999999982302,0.000105911223923,-0.000146131276941,5.31363088988e-05,1793250347626806272
+84,1.400000000,BASELINE,769,745,721.277018702,685.722981298,665,641,885.277018702,787,819,653,631.722981298,656,0.401032960382,0.00447669328947,0.0798652471309,0.999999982249,0.000106354984644,-0.000146238729938,5.29647454671e-05,1793250347643472640
+85,1.416666667,BASELINE,769,745,721,685.692393156,664.692393156,641,885,787,818.692393156,652.692393156,631.692393156,656,0.401033397426,0.0044773234094,0.0798653147394,0.99999998211,0.000107721643381,-0.000146193276585,5.29417955843e-05,1793250347660139264
+86,1.433333333,BASELINE,769,745,721,685.099543443,664.099543443,641,885,787,818.099543443,652.099543443,631.099543443,656,0.401034996143,0.00447741242222,0.0798657966142,0.99999998189,0.000109944102545,-0.000146006033644,5.30566545927e-05,1793250347676806144
+87,1.450000000,BASELINE,769,745.479858298,721,685,664.479858298,641,885.479858298,787,818.479858298,652.479858298,631.479858298,656,0.401036048999,0.00447690441923,0.0798667145885,0.999999982255,0.000108875232768,-0.000144303811153,5.30323544516e-05,1793250347693473024
+88,1.466666667,BASELINE,769,745.943795939,721,685,665,641,886,787.056204061,819,653,632,656,0.401037035924,0.00447634988996,0.0798677504179,0.999999982724,0.000107229682368,-0.000142296095691,5.29684491163e-05,1793250347710139648
+89,1.483333333,BASELINE,769,745.370599108,721,685,665,641,886,787.629400892,819,653,632,656,0.401038429585,0.00447647553918,0.0798690608697,0.999999983106,0.000106388734455,-0.000140290332104,5.27985356936e-05,1793250347726806272
+90,1.500000000,BASELINE,768.791533766,745.208466234,721,685,664.791533766,641,886,787.791533766,819,653,632,656,0.401038470257,0.00447641539831,0.079869094844,0.999999983194,0.000105803461369,-0.000140153500636,5.26679451907e-05,1793250347743472640
+91,1.516666667,BASELINE,768.201733595,745.798266405,721,685,664.201733595,641,886,787.201733595,819,653,632,656,0.401036035995,0.00447601540348,0.0798667938393,0.999999982745,0.000105685877965,-0.000143435387256,5.26092856058e-05,1793250347760139008
+92,1.533333333,BASELINE,768.381644846,745.618355154,721,685.381644846,664.381644846,641,885.618355154,787,818.618355154,653,631.618355154,656,0.401035010231,0.00447565184138,0.0798656466689,0.999999982495,0.000106021388474,-0.000144893963217,5.26741017107e-05,1793250347776805888
+93,1.550000000,BASELINE,768.961685051,745.038314949,721,685.961685051,664.961685051,641,885.038314949,787,818.038314949,653,631.038314949,656,0.401034716663,0.00447530721855,0.0798650993107,0.999999982354,0.000106592436618,-0.000145404704401,5.28031057691e-05,1793250347793472512
+94,1.566666667,BASELINE,769,745.538012075,721.538012075,685.461987925,664.461987925,641,885,787,818,653,631.538012075,656,0.401034296307,0.00447603797867,0.0798652235745,0.999999982272,0.00010697063334,-0.000145704375897,5.27586243365e-05,1793250347810138880
+95,1.583333333,BASELINE,769,745.8862906,721.8862906,685.1137094,664.1137094,641,885,787,818.1137094,653,632,656,0.401034125249,0.00447660674759,0.0798654827284,0.999999982256,0.00010712182509,-0.000145713978166,5.27336798583e-05,1793250347826805760
+96,1.600000000,BASELINE,769,745.312079686,721.312079686,685.687920314,664.687920314,641,885,787,818.687920314,653,632,656,0.401035000123,0.00447621145736,0.0798660957867,0.999999982487,0.000106408928963,-0.000144609312578,5.28375483885e-05,1793250347843472896
+97,1.616666667,BASELINE,769,745,721,685.730476095,665,641,885,787,818.730476095,653,631.730476095,656,0.401035623624,0.00447618443573,0.0798666708552,0.999999982608,0.000106444057079,-0.000143709593279,5.29258142157e-05,1793250347860139520
+98,1.633333333,BASELINE,769,745,721,685.140071204,665,641,885,787,818.140071204,653,631.140071204,656,0.401035947854,0.00447659585535,0.0798672006951,0.999999982599,0.000107369743558,-0.000143053872319,5.29955042791e-05,1793250347876806144
+99,1.650000000,BASELINE,769,745,721,685.441553154,664.558446846,641,885.441553154,787,818,653,631.441553154,656,0.401036636026,0.00447621201834,0.0798677292155,0.999999982774,0.000106788508764,-0.00014224946408,5.30317213452e-05,1793250347893472512
+100,1.666666667,BASELINE,768.979659232,745,721.020340768,686,664.020340768,641,886,787,818.020340768,653,632,656,0.401037356359,0.00447560949179,0.0798682107823,0.999999983,0.000105703510949,-0.000141473433287,5.30366527086e-05,1793250347910139136
+101,1.683333333,BASELINE,768.403757215,745,721.596242785,686,664.596242785,641,886,787,818.596242785,653,632,656,0.401035863289,0.00447578991201,0.0798674211279,0.999999983064,0.000103661142888,-0.000142735610702,5.24714504955e-05,1793250347926805760
+102,1.700000000,BASELINE,768.175592171,745,721.824407829,686,665,641.175592171,885.824407829,787.175592171,819,653,632,656,0.401034785566,0.0044758102109,0.0798667336467,0.99999998303,0.000102594420347,-0.000143832560538,5.22107419847e-05,1793250347943472384
+103,1.716666667,BASELINE,768.763027107,745,721.236972893,686,665,641.763027107,885.236972893,787.763027107,819,653,632,656,0.401034682016,0.0044754549531,0.079866285808,0.999999982778,0.000103816026492,-0.000144541977071,5.26642084973e-05,1793250347960139776
+104,1.733333333,BASELINE,769,745.346076757,721,685.653923243,665,641.653923243,885.346076757,787.653923243,819,653,632,656,0.401034402961,0.00447534026008,0.079866217628,0.999999982596,0.0001050989093,-0.000144756910574,5.29815201959e-05,1793250347976806656
+105,1.750000000,BASELINE,769,745.926161255,721,685.073838745,665,641.073838745,885.926161255,787.073838745,819,653,632,656,0.401034005233,0.00447538823042,0.0798664061628,0.999999982462,0.000106423225852,-0.000144637488102,5.32067677383e-05,1793250347993473280
+106,1.766666667,POSE1_TO_POSE2_PRESS,769,746,721,685,664,642,886,787,819,653,632,656,0.401035313404,0.00447768186767,0.0798663854814,0.99999998253,0.000106659062512,-0.000144375589904,5.21401478781e-05,1793250348024613120
+107,1.783333333,POSE1_TO_POSE2_PRESS,769,746,721,685,664.573004174,641.426995826,886,787,819,653,632,656,0.401034978493,0.00447692677767,0.0798663530221,0.999999982543,0.000106249280581,-0.000144392847729,5.26844788391e-05,1793250348041279744
+108,1.800000000,POSE1_TO_POSE2_PRESS,769,746,721,685.150877706,665,641,886,787,818.849122294,653,632,655.849122294,0.401034208018,0.00447619793285,0.0798660590114,0.9999999825,0.00010579971719,-0.0001448900839,5.30391306609e-05,1793250348057946368
+109,1.816666667,POSE1_TO_POSE2_PRESS,769,746,721,685.74299163,665,641,886,787,818.25700837,653,632,655.25700837,0.401032163749,0.00447554584086,0.0798650001033,0.999999982293,0.00010523381431,-0.000146790998821,5.28390730523e-05,1793250348074612992
+110,1.833333333,POSE1_TO_POSE2_PRESS,769,746,721.327359739,686,665,641,886,787,818.327359739,653,632,655.327359739,0.401033190255,0.00447528304461,0.079865246032,0.999999982406,0.000105129304057,-0.000146131498243,5.27428907851e-05,1793250348091279360
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,746,721.905787181,686,665,641,886,787,818.905787181,653,632,655.905787181,0.401036571883,0.00447531881773,0.0798664927019,0.99999998276,0.000105378657714,-0.000143508293533,5.27263754531e-05,1793250348107945984
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,746,722,686,664.519246236,641.480753764,886,787,819,653,632,656,0.401036158446,0.00447479411714,0.0798669062493,0.999999982954,0.000103728091505,-0.000143417088188,5.2571318411e-05,1793250348124612864
+113,1.883333333,POSE1_TO_POSE2_PRESS,769.055120686,746,721.944879314,685.944879314,664.055120686,642,886,787,818.944879314,653,632,656,0.401035066953,0.004474176894,0.0798670531883,0.999999983055,0.00010205550238,-0.000143956341487,5.24489649791e-05,1793250348141279488
+114,1.900000000,POSE1_TO_POSE2_PRESS,769.630182944,746,721.369817056,685.369817056,664.630182944,642,886,787,818.369817056,653,632,656,0.401034544659,0.00447371557467,0.079866214315,0.9999999826,0.000103662138518,-0.000145795544025,5.28893661693e-05,1793250348157946368
+115,1.916666667,POSE1_TO_POSE2_PRESS,769.78781412,746,721.21218588,685,665,641.78781412,886,787.21218588,818.21218588,653,631.78781412,656.21218588,0.401034106098,0.00447391044743,0.0798658646566,0.999999981998,0.000104961716971,-0.000148832963149,5.32593026279e-05,1793250348174612992
+116,1.933333333,POSE1_TO_POSE2_PRESS,769.193305327,746,721.806694673,685,665,641.193305327,886,787.806694673,818.806694673,653,631.193305327,656.806694673,0.40103381841,0.0044752876669,0.0798663964802,0.999999981119,0.000105708029457,-0.000154029364838,5.35022735613e-05,1793250348191279616
+117,1.950000000,POSE1_TO_POSE2_PRESS,769,745.61092049,721.61092049,685.38907951,665,641.38907951,886,787.61092049,819,653,631.38907951,657,0.401043809255,0.00447603389085,0.0798702336002,0.999999980792,0.00010590133373,-0.00015599436823,5.35349906275e-05,1793250348207946240
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745.034377091,721.034377091,685.965622909,665,641.965622909,886,787.034377091,819,653,631.965622909,657,0.401058752438,0.00447647609256,0.0798756632577,0.99999998074,0.000105828191063,-0.000156402439688,5.34664044945e-05,1793250348224612864
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745.540421728,721.540421728,686,665,641.459578272,886,787,819,653,632,656.459578272,0.401101505769,0.00447614134559,0.0798873063359,0.999999982788,0.000105920617211,-0.000142796357999,5.30472909538e-05,1793250348241279488
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,746,722,685.881860079,665.118139921,641,886,787,819,653,632,656,0.401150955021,0.00447619760822,0.0798991844231,0.999999984806,0.000106041682772,-0.000128054212179,5.24019961103e-05,1793250348257946112
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,746,722,685.292044421,665.707955579,641,886,787,819,653,632,656,0.401220097644,0.00447801167063,0.079910427844,0.999999986751,0.000106235177517,-0.00011232403389,5.09424054292e-05,1793250348274612992
+122,2.033333333,POSE1_TO_POSE2_PRESS,769.292733379,746,722,685,665.707266621,641,886,787,819,653,632,656,0.401297681703,0.00447874282404,0.0799193137581,0.999999988327,0.000105000067528,-9.95800974104e-05,4.90362332577e-05,1793250348291279872
+123,2.050000000,POSE1_TO_POSE2_PRESS,769.872570178,746,722,685,665.127429822,641,886,787,819,653,632,656,0.401383544845,0.00447841189524,0.0799258875053,0.999999989642,0.000102363828275,-8.97649711486e-05,4.66920685149e-05,1793250348307946240
+124,2.066666667,POSE1_TO_POSE2_PRESS,769.550874649,745.550874649,721.550874649,685.449125351,665,641.449125351,886.449125351,787.449125351,819,653,632,656,0.401484327707,0.00448021364898,0.07992964862,0.999999990228,0.000102347924397,-8.46202185061e-05,4.36807812636e-05,1793250348324612608
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745.02461957,721,685.97538043,665,641.97538043,886.950760861,787.97538043,818.97538043,653,632,656,0.401590578144,0.0044825060401,0.0799327491744,0.999999990646,0.000102855184123,-8.05722876183e-05,4.04470713133e-05,1793250348341279488
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745.597073957,721,685.402926043,665,641.402926043,885.805852087,787.402926043,818.402926043,653,632,656,0.401724980201,0.00448234899858,0.0799387797844,0.999999991909,9.85803036797e-05,-7.16581535927e-05,3.64453593471e-05,1793250348357946368
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745.824868713,721.175131287,685.175131287,665,641,885.175131287,787,818.175131287,653,632,656,0.401868421774,0.00448303245239,0.0799447896649,0.999999993077,9.43121275787e-05,-6.26656281709e-05,3.20007191457e-05,1793250348374613248
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745.233494686,721.766505314,685.766505314,665,641,885.766505314,787,818.766505314,653,632,656,0.40203334797,0.00448571355087,0.079950750276,0.999999994163,9.00598866284e-05,-5.34867875247e-05,2.65033512182e-05,1793250348391279872
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,721.65131093,686,665,641,885.65131093,787,819,653,632,656,0.402215309902,0.00448846711292,0.0799564621766,0.999999995081,8.60744417445e-05,-4.47506057323e-05,2.06416042422e-05,1793250348407946240
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,721.075123215,686,665,641,885.075123215,787,819,653,632,656,0.402408386643,0.00449126795337,0.0799620118091,0.999999995852,8.22630648223e-05,-3.63032313065e-05,1.45421213073e-05,1793250348424612864
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745.501429248,721.501429248,686,665,641,885.501429248,787,819,653,631.498570752,656,0.402616632156,0.00449435301682,0.0799604507278,0.999999996048,7.67920759653e-05,-4.40948812014e-05,7.86666586898e-06,1793250348441279744
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,746,721.922110057,686.077889943,665,641.077889943,886,787,818.922110057,653,631.077889943,656,0.402831842284,0.00449768327528,0.0799573454641,0.999999995979,7.07299177991e-05,-5.51162683694e-05,8.91098315994e-07,1793250348457946368
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,721.34658478,686.65341522,665,641.65341522,886,787,818.34658478,653,631.65341522,656,0.40307701928,0.00450230782398,0.0799511856867,0.999999995484,6.24805094244e-05,-7.12172962838e-05,-7.4501634063e-06,1793250348474612992
+134,2.233333333,POSE1_TO_POSE2_PRESS,768.762946617,746,721,687,664.762946617,641.762946617,886.237053383,787,818,653,632,656,0.403346321864,0.00450652357071,0.0799473439302,0.999999995159,5.39728211871e-05,-8.07617228766e-05,-1.56948930114e-05,1793250348491279616
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.167026686,746,721,687,664.167026686,641.167026686,886.832973314,787,818,653,632,656,0.403652147288,0.00451012044664,0.0799470113423,0.999999995471,4.50741329191e-05,-8.03803467505e-05,-2.37934856353e-05,1793250348507945984
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,746,721.412386915,687,664.412386915,641.412386915,886.587613085,787,818.412386915,653,632,656,0.403985727108,0.00451683944874,0.0799502970597,0.999999995744,4.78571882371e-05,-7.51027011341e-05,-2.41176506619e-05,1793250348524612352
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,746,721.985372336,687,664.985372336,641.985372336,886.014627664,787,818.985372336,653,632,656,0.404330115494,0.00452477432056,0.0799549918772,0.999999995941,5.51895407505e-05,-6.79182696137e-05,-2.14141698548e-05,1793250348541278976
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.559682935,746,721.440317065,687.559682935,665,642,886,787,819,653,632,656,0.40472062543,0.00453266538579,0.0799584094513,0.999999996362,5.83534162383e-05,-5.70167786646e-05,-2.49069959053e-05,1793250348557946112
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,746,721.138475949,688,665.138475949,642,886,787,819,653,632,656,0.405121843946,0.00454011476568,0.0799597036141,0.999999996455,6.12537303222e-05,-5.00250908049e-05,-2.89187778845e-05,1793250348574613248
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,746,721.731880669,688,665.731880669,642,886,787,819,653,632,656,0.405554273303,0.00454611686537,0.0799541317562,0.999999995814,6.36469414868e-05,-5.61980166876e-05,-3.41021703835e-05,1793250348591279872
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,722,688,665.682362729,642,886,787,819,653,632,656,0.406002879422,0.00455396263187,0.0799459089453,0.999999993413,8.51917495585e-05,-6.96522161893e-05,-3.26398192245e-05,1793250348607946496
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,722,688,665.102910091,642,886,787,819,653,632,656,0.406464819429,0.00456332805792,0.0799355010621,0.999999988194,0.000122522433108,-8.91080712867e-05,-2.56996548398e-05,1793250348624613120
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,722,688,665.945924061,641.52703797,886,787,819,653,632,656,0.40695662463,0.00457396414143,0.0799290231792,0.999999986941,0.000122483444292,-0.000101047720004,-3.00707550639e-05,1793250348641280000
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.951928383,722,688.048071617,666.903856767,641.048071617,886.048071617,787,818.951928383,653,632,656,0.407457316832,0.0045846615451,0.0799232156445,0.999999986357,0.000115849652925,-0.00011201547304,-3.62884811579e-05,1793250348657947392
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.376701237,722,688.623298763,665.753402474,641.623298763,886.623298763,787,818.376701237,653,632,656,0.407984739875,0.00459302230889,0.0799154524065,0.999999983025,0.000125393352778,-0.000130124767083,-3.59698020401e-05,1793250348674613760
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745,722,689,665,642,887.204752356,787,818,653,632,656,0.40854508691,0.00460151826985,0.0799127896346,0.999999980567,0.00013727188536,-0.000136783461647,-3.62305076101e-05,1793250348691280128
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,722,689,665,642,887.798020544,787,818,653,632,656,0.409167906907,0.00461027076577,0.0799198049535,0.999999980093,0.000153580742403,-0.000121714741284,-3.75905906655e-05,1793250348707947008
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745.379290534,722,689,665,642,888,787,818.379290534,653.379290534,632,656,0.409831316356,0.00460952004519,0.079945746362,0.999999985109,0.0001489610652,-7.89629072696e-05,-3.68494801388e-05,1793250348724613888
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745.954367154,722,689,665,642,888,787,818.954367154,653.954367154,632,656,0.410515677667,0.00460386385641,0.0799814572335,0.99999999023,0.000133538281262,-2.19213194895e-05,-3.50237537792e-05,1793250348741281024
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.470417844,746,722,689.529582156,665.529582156,642,888.529582156,787,818.470417844,653.470417844,632,656,0.411199615871,0.00459174753313,0.0799929534159,0.999999992107,0.000120364604416,-4.65276124032e-06,-3.5725349733e-05,1793250348757947136
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.107291308,746,722,690,666,642,888.892708692,787,818.107291308,653,631.892708692,656,0.411878918529,0.00457972888661,0.0799940528424,0.999999993402,0.000108808939751,-3.41180288652e-06,-3.66657512522e-05,1793250348774613248
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.696141318,746,722,690,666,642,888.303858682,787,818.696141318,653,631.303858682,656,0.412537578812,0.00457064775116,0.0799578556525,0.999999992194,0.00010364538325,-5.87218023247e-05,-3.77002962297e-05,1793250348791279872
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,721.719191104,690,666,642,887.719191104,787,819,653,631.280808896,656,0.413247937421,0.00456956339816,0.0799301871779,0.999999989624,9.99713477733e-05,-9.54722214983e-05,-4.05372216756e-05,1793250348807946496
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,721.138982775,690,666,642,887.138982775,787,819,653,631.861017225,656,0.41401341705,0.00457700524158,0.079911612045,0.999999987863,9.78854444408e-05,-0.000112434357968,-4.52958517253e-05,1793250348824613120
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,721.43856711,690.43856711,666,642,887.43856711,787,819,653,631.56143289,656.43856711,0.414805180752,0.00458652913151,0.0799261178395,0.999999988169,0.000118334934999,-8.71444263391e-05,-4.54458770903e-05,1793250348841279744
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.984853958,746,722,691,666,642,888,787.015146042,819,653,631.015146042,657,0.415604590237,0.00459650702894,0.0799502631715,0.999999987324,0.000144491684878,-5.02083174397e-05,-4.41862660561e-05,1793250348857946368
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.413181359,746,722,691,666,642,888,787.586818641,819,653,631.586818641,657,0.416380724015,0.00459906920812,0.0799457221647,0.999999989102,0.000119529389118,-7.43741587071e-05,-4.44713696121e-05,1793250348874613248
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,722,691.164207113,665.835792887,642,888,788,819.164207113,653,631.835792887,657,0.417178355779,0.00460171268614,0.0799444591786,0.99999998976,0.000107665277734,-8.25941615164e-05,-4.54534058327e-05,1793250348891280128
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,722,691.75649664,665.24350336,642,888,788,819.75649664,653,631.24350336,657,0.41803203202,0.00460456810735,0.0799517418822,0.99999998918,0.000129947693613,-4.9243899145e-05,-4.8252322096e-05,1793250348907946752
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.340881174,746,722,692,665,642,888.340881174,787.659118826,820,653,631.340881174,656.659118826,0.418927692833,0.00460423885334,0.0799691577653,0.999999990071,0.000131064008716,-9.44378284167e-06,-5.08950232391e-05,1793250348924613376
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.919746851,746,722,692,665,642,888.919746851,787.080253149,820,653,631.919746851,656.080253149,0.419852664931,0.00460168623399,0.0799936480772,0.999999991073,0.000117403314392,3.48592656222e-05,-5.34286634054e-05,1793250348941280256
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,746,721.504968719,692,665.495031281,642,888.504968719,787.495031281,820,653,632,656.495031281,0.420713523297,0.00460077874929,0.079978563096,0.99999999142,0.000119356350969,9.57474155465e-06,-5.31354245999e-05,1793250348957946624
+163,2.716666667,POSE1_TO_POSE2_PRESS,769,746,721,692.070026125,666,642,888.070026125,788.070026125,819.929973875,653,631.929973875,657,0.421572604448,0.00460068715772,0.0799616873885,0.999999990775,0.00012382498993,-1.93535229884e-05,-5.23689314081e-05,1793250348974613504
+164,2.733333333,POSE1_TO_POSE2_PRESS,769,746,721,692.647097529,666,642,888.647097529,788.647097529,819.352902471,653,631.352902471,657,0.422493536672,0.00460458600034,0.0799779675639,0.999999990423,0.000128311922135,6.4339523832e-06,-5.1470222444e-05,1793250348991280128
+165,2.750000000,POSE1_TO_POSE2_PRESS,769,746,721,692.771452259,666.228547741,642,889,788.771452259,819.228547741,653,631.228547741,657,0.423401982996,0.00460838865034,0.0799915942771,0.999999989806,0.000131078376535,2.43532402413e-05,-5.11174587188e-05,1793250349007947008
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,692.183108532,666.816891468,642,889,788.183108532,819.816891468,653,631.816891468,657,0.424290773279,0.00461203986773,0.0800010437251,0.999999989623,0.000131136334132,2.98858759056e-05,-5.16241604306e-05,1793250349024614400
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,692.40015894,666.59984106,642,889,788,819.59984106,653.40015894,632,656.59984106,0.425175887121,0.00461346973732,0.079966281023,0.999999989007,0.000133404073419,-3.89814937167e-05,-5.16725095424e-05,1793250349041280768
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,721,692.981132635,666.018867365,642,889,788,819.018867365,653.981132635,632,656.018867365,0.426059339684,0.0046138958744,0.079911540736,0.999999979327,0.000136670317594,-0.000141467051685,-5.15137481797e-05,1793250349057946880
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746.554601589,721,693,666,642,889,787.445398411,819,653.445398411,632,656,0.427002827518,0.00461209172925,0.0799077368086,0.999999982733,0.000129722246201,-0.000121661042628,-5.38946969509e-05,1793250349074613248
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746.86848441,721,693,666,642.13151559,889,787,819,653.13151559,632,656,0.427935595352,0.00461041781681,0.0799078227632,0.999999985252,0.00012444597991,-0.000104593025519,-5.54076830719e-05,1793250349091279616
+171,2.850000000,POSE1_TO_POSE2_PRESS,769,746.278688011,721,693,666,642.721311989,889,787,819,653.721311989,632,656,0.428823986211,0.00460945857466,0.0799155057959,0.9999999844,0.000126189999824,-0.000111369395913,-5.35991047891e-05,1793250349107946496
+172,2.866666667,POSE1_TO_POSE2_PRESS,769,746,721,693.305364829,666.305364829,642.694635171,889,787.305364829,819,653.694635171,631.694635171,656.305364829,0.429760557822,0.00461088452864,0.0799409507022,0.99999998718,0.000127607875711,-8.08184235933e-05,-5.31451166101e-05,1793250349124612864
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,721,693.884272609,666.884272609,642.115727391,889,787.884272609,819,653.115727391,631.115727391,656.884272609,0.43074028925,0.00461444711899,0.079982306528,0.999999990119,0.000128733594349,-1.68299668394e-05,-5.39045574847e-05,1793250349141279488
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721.460885456,694,666.539114544,642,888.539114544,787.539114544,819.460885456,653,631.460885456,656.539114544,0.431701318126,0.00461648877348,0.0800117649149,0.999999989752,0.000130428880251,2.54930824031e-05,-5.32390529368e-05,1793250349157946368
+175,2.916666667,POSE1_TO_POSE2_PRESS,769,746,721.963117889,694,666,642,888.036882111,787,820,653,632.036882111,656,0.432648688128,0.00461807827427,0.0800319518367,0.999999988505,0.000132034380204,5.30426283512e-05,-5.23699746701e-05,1793250349174612736
+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,721.387746672,694,666,642,888.612253328,787,820,653,632.612253328,656,0.433464859431,0.00461861447885,0.0799601738454,0.999999988502,0.000130251233912,-5.60711243169e-05,-5.37267735323e-05,1793250349191279360
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.807695189,746.192304811,721,694,666,642,889,787,820.192304811,653.192304811,632.807695189,656,0.434301696353,0.00461839307773,0.0799091212601,0.999999982069,0.000126441626285,-0.000129713548232,-5.52083799913e-05,1793250349207945984
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+236,3.933333333,POSE1_TO_POSE2_PRESS,769.566022782,746,720,695,654,637,890.566022782,785.433977218,823,653.566022782,631.566022782,656.433977218,0.454163556608,0.00477904517819,0.0794979208252,0.999999666828,0.000285680982423,-0.000761175858738,-7.30874693509e-05,1793250350191279872
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,746,720,695,654,637.010601223,890,786,823,653,631,656.989398777,0.454162729358,0.00478079480854,0.07949739684,0.999999664867,0.00028854730514,-0.000762629681203,-7.34951276318e-05,1793250350207946752
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,746,720,695,654,637.586419787,890,786,823,653,631,656.413580213,0.454163468031,0.00478110115344,0.0794975487446,0.999999665127,0.00028778010558,-0.000762631857518,-7.29420919054e-05,1793250350224613376
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.165604346,746.165604346,720,695,654,637.834395654,890,786,823.165604346,653,631.165604346,656,0.45416420074,0.00478120594409,0.0794977791729,0.999999665406,0.000286983789097,-0.000762593166287,-7.26587384706e-05,1793250350241280000
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.753369508,746.753369508,720,695,654,637.246630492,890,786,823.753369508,653,631.753369508,656,0.45416491824,0.00478079692991,0.0794982097748,0.999999665735,0.000286113247406,-0.000762450294964,-7.30628627797e-05,1793250350257946368
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,747,720,695,654,637.336964689,890.336964689,785.663035311,823.663035311,653.336964689,631.663035311,656,0.454165335593,0.0047809553636,0.0794981745555,0.999999665856,0.00028672371556,-0.00076204196608,-7.32732599417e-05,1793250350274612992
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,747,720,695,654,637.91754507,890.91754507,785.08245493,823.08245493,653.91754507,631.08245493,656,0.45416553595,0.00478152404565,0.079497802561,0.999999665825,0.000288404910889,-0.000761441719089,-7.33435979809e-05,1793250350291279616
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.506307546,746.506307546,720.493692454,694.506307546,654,638,891,785,823,653.506307546,631.493692454,656,0.454164605673,0.00478142229341,0.0794971513154,0.999999665221,0.000288057363001,-0.000762358807364,-7.34123883997e-05,1793250350307946496
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,746,720.931514194,694.068485806,654,638,891,785.068485806,823,653,632,656.068485806,0.454163879525,0.00478129601023,0.0794966677447,0.999999664709,0.000287584996613,-0.000763203221456,-7.34636000696e-05,1793250350324613120
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,746,720.361265309,694.638734691,654,638,891,785.638734691,823,653,632,656.638734691,0.454166020125,0.00478180307871,0.0794977513153,0.999999665571,0.000288658529702,-0.000761675017196,-7.33878974318e-05,1793250350341279744
+246,4.100000000,HOLD_POSE2,770,746,720,694,654,638,891,786,823,654,631,657,0.454167748342,0.00477974941833,0.0794975165874,0.999999667627,0.000284015373206,-0.000760740055302,-7.31802137372e-05,1793250350379739904
+247,4.116666667,HOLD_POSE2,770,746,720,694,654,638,891,786,823,653.426751343,631.573248657,657,0.454167114936,0.00477911081554,0.0794971798003,0.999999666437,0.000285501706805,-0.000761789369924,-7.27441131673e-05,1793250350396406784
+248,4.133333333,HOLD_POSE2,769.853351664,746,720,694.146648336,653.853351664,638,890.853351664,786,823,653.146648336,631.853351664,656.853351664,0.454167089746,0.00477856493549,0.0794971300021,0.999999665895,0.000286488703185,-0.000762161613167,-7.2409638903e-05,1793250350413073664
+249,4.150000000,HOLD_POSE2,769.279511918,746,720,694.720488082,653.279511918,638,890.279511918,786,823,653.720488082,631.279511918,656.279511918,0.454168836309,0.0047782891597,0.0794979162123,0.99999966725,0.000286021114233,-0.000760561525542,-7.23712052951e-05,1793250350429740032
+250,4.166666667,HOLD_POSE2,769,746,720,695,653.2767311,638,890.2767311,785.7232689,823,654,631,656.2767311,0.454170813247,0.00477835575844,0.0794991158713,0.999999668887,0.000285322030474,-0.000758653778967,-7.25321077731e-05,1793250350446406656
+251,4.183333333,HOLD_POSE2,769,746,720,695,653.816263143,638,890.816263143,785.183736857,823,654,631,656.816263143,0.454173008963,0.00477874749719,0.0795007081668,0.99999967079,0.000284403104977,-0.000756453860547,-7.28823121113e-05,1793250350463073280
+252,4.200000000,HOLD_POSE2,769,746,720,695,654,637.577312588,891,785.422687412,823.422687412,653.577312588,631,656.577312588,0.45417223022,0.00477969083788,0.0795006248293,0.999999669908,0.000285572878698,-0.000757154644272,-7.31410190607e-05,1793250350479739904
+253,4.216666667,HOLD_POSE2,769,746,720,695,654,637.057119208,891,785.942880792,823.942880792,653.057119208,631,656.057119208,0.454170099737,0.00478062651797,0.0794996795374,0.999999667787,0.00028740785988,-0.000759246045518,-7.32715680466e-05,1793250350496406784
+254,4.233333333,HOLD_POSE2,769,746,720,695,654,637.632270371,891,785.367729629,823.367729629,653.632270371,631,656.632270371,0.454169640783,0.00477890929382,0.07949876474,0.99999966753,0.000285493391777,-0.000760363951834,-7.26683405226e-05,1793250350513073408
+255,4.250000000,HOLD_POSE2,769.206630554,746,720,695,653.793369446,637.793369446,890.793369446,785,823,653.793369446,631,657,0.454170097048,0.00477743985071,0.079498723638,0.999999667913,0.000283959565784,-0.000760468083063,-7.23060377866e-05,1793250350529740032
+256,4.266666667,HOLD_POSE2,769.779588378,746,720,695,653.220411622,637.220411622,890.220411622,785,823,653.220411622,631,657,0.454172175869,0.00477640968914,0.079500231477,0.999999669439,0.000283100565585,-0.000758774931776,-7.23708612974e-05,1793250350546406656
+257,4.283333333,HOLD_POSE2,770,746,720.365694558,695,653,637.365694558,890.365694558,785.365694558,823,653,631.365694558,656.634305442,0.454172241097,0.00477740620945,0.079500181222,0.999999669388,0.000283553521263,-0.000758656857875,-7.25303567648e-05,1793250350563073280
+258,4.300000000,HOLD_POSE2,770,746,720.960021138,695,653,637.960021138,890.960021138,785.960021138,823,653,631.960021138,656.039978862,0.454171047428,0.00477966980999,0.0794991568478,0.999999668353,0.000284826710904,-0.000759523521266,-7.27490410901e-05,1793250350579739904
+259,4.316666667,HOLD_POSE2,769.46134477,746,720.46134477,695,653,638,890.46134477,785.46134477,823,653,632,656,0.454171157815,0.004780053453,0.0794987075328,0.999999667816,0.000285945741044,-0.000759808937379,-7.27607694055e-05,1793250350596406528
+260,4.333333333,HOLD_POSE2,769.115562632,746,720,694.884437368,653,638,890,785.115562632,822.884437368,653.115562632,631.884437368,656.115562632,0.454171250075,0.00478050810456,0.0794983538936,0.999999667308,0.000286981823583,-0.000760087199137,-7.27536778664e-05,1793250350613073408
+261,4.350000000,HOLD_POSE2,769.690107164,746,720,694.309892836,653,638,890,785.690107164,822.309892836,653.690107164,631.309892836,656.690107164,0.454170896806,0.00478178326785,0.0794982155344,0.999999666777,0.000287732618867,-0.000760503535553,-7.27311186925e-05,1793250350629740032
+262,4.366666667,HOLD_POSE2,769.735326918,746,720,694.264673082,653.264673082,637.735326918,890.264673082,786,822.264673082,653.735326918,631.264673082,656.735326918,0.454170947917,0.00478154563432,0.0794984600354,0.999999667122,0.000286883608347,-0.000760378685541,-7.26508342229e-05,1793250350646406912
+263,4.383333333,HOLD_POSE2,769.160735992,746,720,694.839264008,653.839264008,637.160735992,890.839264008,786,822.839264008,653.160735992,631.839264008,656.160735992,0.454171472534,0.00477953659759,0.0794991528452,0.999999668486,0.00028416131183,-0.000759620135506,-7.25029565594e-05,1793250350663073280
+264,4.400000000,POSE2_TO_POSE3_RETREAT,769,746,720,694,653,638,890,785,823,654,632,657,0.454173311514,0.00477793505991,0.0794990491592,0.999999669864,0.000282840580055,-0.000758310466002,-7.23792827624e-05,1793250350695848448
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,746,720,694.577600238,653.577600238,637.422399762,890.577600238,785.577600238,823,653.422399762,632,657,0.454173505641,0.0047777751261,0.0794993677002,0.999999669532,0.000283847676444,-0.000758373163191,-7.23593725347e-05,1793250350712515840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.153081928,746,720,695,654,637,890.846918072,785.846918072,823,653.153081928,631.846918072,657,0.454173480121,0.00477765459156,0.0794994490712,0.999999668968,0.000284796750233,-0.000758767885661,-7.22896308919e-05,1793250350729183232
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.722797821,746,720,695,654,637,890.277202179,785.277202179,823,653.722797821,631.277202179,657,0.454172856798,0.00477764128767,0.0794988849509,0.999999667771,0.000285587907592,-0.000760066261571,-7.2084266051e-05,1793250350745849344
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.693367084,746,720,695,654,637,890,785.306632916,823,653.693367084,631,657,0.454172804596,0.00477796040588,0.079499018432,0.999999667383,0.000286293215138,-0.000760304678357,-7.21544205061e-05,1793250350762515712
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.096151889,746,720,695,654,637,890,785.903848111,823,653.096151889,631,657,0.45417329362,0.00477859454563,0.0794998129987,0.999999667763,0.000286917166616,-0.000759538619285,-7.24856722688e-05,1793250350779182080
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.485956252,746,720,695,653.514043748,637,890.485956252,786,823,653.485956252,631,656.514043748,0.454173409914,0.00477826625263,0.0794995490291,0.999999668693,0.000285182414676,-0.000758933168275,-7.28329043025e-05,1793250350795848704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,746,720,695,653,637,891,786,823,654,631,656,0.454173027688,0.00477804253245,0.0794989861527,0.999999669254,0.000283608526222,-0.000758760224241,-7.30875137123e-05,1793250350812515328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,746,720,695,653,637,891,786,823,654,631,656,0.454169277197,0.0047801005756,0.0794976677501,0.999999666081,0.000286874013735,-0.000761755904092,-7.25872991018e-05,1793250350829181952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.786362143,746,720.213637857,695,653,637,890.786362143,786,823,654,631,656,0.454159867493,0.00478064411615,0.0794931763381,0.999999660017,0.000288155629927,-0.000769243130885,-7.20902726686e-05,1793250350845848576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.214042613,746,720.785957387,695,653,637,890.214042613,786,823,654,631,656,0.454140956401,0.00477864492211,0.0794833576854,0.999999648968,0.000286106477053,-0.000784271322155,-7.15985989828e-05,1793250350862515456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,746.371330683,720.628669317,695,653,637,890.371330683,786,823,654,631,656.371330683,0.454103868483,0.00477776766969,0.0794671105018,0.999999627678,0.000284517817892,-0.000811545220438,-7.13281413431e-05,1793250350879181824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,746.964502645,720.035497355,695,653,637,890.964502645,786,823,654,631,656.964502645,0.454055921319,0.00477756069016,0.0794470227687,0.999999599391,0.000283204267559,-0.000846134979502,-7.11898430218e-05,1793250350895848448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746.455529574,720.544470426,695,653,637,891,786,823,653.455529574,631.544470426,657,0.453991324861,0.00477598019893,0.0794306590477,0.999999573724,0.000284388863483,-0.000875664878765,-6.98943032643e-05,1793250350912515328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.122487979,746,721,695,653,637,890.877512021,786,823,653,632,657,0.453923915374,0.00477489947359,0.0794164395019,0.99999955172,0.000286176388919,-0.000899978756496,-6.85665753377e-05,1793250350929182208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.69641562,746,721,695,653,637,890.30358438,786,823,653,632,657,0.453850044081,0.00477598289763,0.0794092488486,0.999999545145,0.00028960000631,-0.000906255587273,-6.73916997138e-05,1793250350945848832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.730002617,746,720.730002617,695,653.269997383,637,890.269997383,786,823,653,632,657,0.453766187146,0.00477675891133,0.079405738196,0.999999540786,0.00029240355995,-0.000910265759647,-6.59171476046e-05,1793250350962515456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.156809294,746,720.156809294,695,653.843190706,637,890.843190706,786,823,653,632,657,0.453671116751,0.00477718971582,0.0794063600329,0.99999953895,0.000294510807344,-0.000911730567667,-6.41060712203e-05,1793250350979181824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,695,653.566757611,637,890.566757611,786,823,653,631.566757611,657,0.453564058185,0.00477610475199,0.0794085051866,0.99999954126,0.000295907148951,-0.000908924458199,-6.14483347704e-05,1793250350995848448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,653.028605502,637.028605502,890,785.971394498,823,653.028605502,631,657,0.453451236917,0.00477440759027,0.0794114652286,0.999999545376,0.000297142005007,-0.000904182836299,-5.83844998334e-05,1793250351012515072
+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,653.604134381,637.604134381,890,785.395865619,823,653.604134381,631,657,0.453314554741,0.00477191958867,0.0794190371026,0.999999554546,0.000300408118725,-0.000893187325107,-5.36525203828e-05,1793250351029181952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.180043023,746,720,695,654,638,890.180043023,785,823,654,631,657,0.453165130833,0.00477033725463,0.079424491494,0.999999561016,0.000303951357092,-0.000884967504413,-4.9126298675e-05,1793250351045848832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.756788347,746,720,695,654,638,890.756788347,785,823,654,631,657,0.45298763213,0.0047707504462,0.0794252802759,0.999999561797,0.000308105204644,-0.000882863572561,-4.50534390808e-05,1793250351062515456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.659709371,746,720,695,654,638,890.659709371,785.340290629,822.659709371,653.659709371,631.340290629,657,0.452793267451,0.00477067080311,0.0794287284959,0.999999564406,0.000312909158268,-0.000878436578911,-4.03164777655e-05,1793250351079181824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.071279876,746,720,695,654,638,890.071279876,785.928720124,822.071279876,653.071279876,631.928720124,657,0.452586604135,0.00477023178656,0.0794341159698,0.999999568295,0.000318187167628,-0.000872315615582,-3.50952551228e-05,1793250351095848448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,746,720,694.491414921,654,638,890,785.491414921,822,653.508585079,631.491414921,656.491414921,0.452345981008,0.00476781674686,0.0794385701912,0.999999569292,0.000323772058576,-0.000869363468483,-2.8178974501e-05,1793250351112515584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,746,720,694,654.086777015,638,890.086777015,785.086777015,822,654,631,656,0.452096343957,0.00476497339069,0.0794435300429,0.999999571025,0.000329318745184,-0.000865482040465,-2.09506897633e-05,1793250351129182720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,746,720,694,654.66219563,638,890.66219563,785.66219563,822,654,631,656,0.451822306727,0.00476125184022,0.0794520614303,0.999999579416,0.000334412124287,-0.000853908403806,-1.32810975607e-05,1793250351145849088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,746.237985357,720,694.237985357,655,638,890.762014643,786,822,654,631,656,0.451533888519,0.00475946575636,0.0794622292716,0.999999589416,0.000341489425041,-0.000839357408604,-5.6233027541e-06,1793250351162515456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,746.814302644,720,694.814302644,655,638,890.185697356,786,822,654,631,656,0.451225025606,0.00476043122922,0.0794747235775,0.999999601591,0.000351387168048,-0.000820573651655,2.01771982196e-06,1793250351179182080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746.601161403,720.398838597,695,655.398838597,638,890,786,821.601161403,653.601161403,631,656.398838597,0.450895685419,0.00475636082899,0.0794902399745,0.999999623281,0.000355210811925,-0.000791948540129,9.01768613964e-06,1793250351195848960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,746.012718384,720.987281616,695,655.987281616,638,890,786,821.012718384,653.012718384,631,656.987281616,0.450556610522,0.00474989641819,0.0795071930471,0.999999648685,0.000356146880999,-0.000758644933586,1.57128996265e-05,1793250351212515840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.567319485,746,721,695,656,638,890,786,821,653,631,657,0.450170518179,0.00474798635789,0.079528488712,0.999999687131,0.000320013776441,-0.000723370122267,8.07007241323e-06,1793250351229182208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769.854534459,746,721,694.854534459,656.290931082,638,890,786,820.854534459,653.145465541,631,656.854534459,0.449769296365,0.00474465166518,0.0795455187408,0.999999715929,0.000290150194366,-0.00069566020645,3.43001920995e-06,1793250351245848832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769.281404493,746,721,694.281404493,657.437191015,638,890,786,820.281404493,653.718595507,631,656.281404493,0.449326648067,0.00473683280311,0.0795497258813,0.999999722177,0.000281126370623,-0.000690318896982,8.54924995746e-06,1793250351262515456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,746,720.708884879,694.291115121,658,638.291115121,890,786,820,654,631.291115121,656.291115121,0.448849297204,0.00473325649214,0.079545584384,0.999999716401,0.000276790506997,-0.00070029947978,1.28631885406e-05,1793250351279181824
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,658,639,890,786,820,653.544779677,631.544779677,656.544779677,0.447800024351,0.00472728201057,0.0795232296425,0.999999679532,0.000311897800132,-0.000737143300711,1.658392269e-05,1793250351312515072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,746,720,694.948305366,658.051694634,639,890,786,820,653.051694634,631,656,0.447253696239,0.00471895342427,0.0795167234008,0.999999663413,0.000351529260772,-0.000741179767023,1.59493366855e-05,1793250351329181952
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,768.798030041,746,720.201969959,694,659.201969959,639,890,786,820,654,631,656.201969959,0.446163997824,0.00470848594533,0.0795711607072,0.999999735083,0.00030607581178,-0.000660113747593,2.00221988632e-05,1793250351362515968
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.224421636,746,720.775578364,694,659.775578364,639,890,786,820,654,631,656.775578364,0.445587393116,0.00470027957336,0.0796133394825,0.999999776635,0.000286733834808,-0.00060330051842,2.32882731414e-05,1793250351379182592
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.359953716,746,721,694,660.359953716,639,890,786,820,654,631,657,0.444966120578,0.00469236099492,0.0796463286284,0.999999806967,0.00027140240429,-0.000558363223122,2.52573669009e-05,1793250351395848960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768.95124894,746,721,694,660.95124894,639,890,786,820,654,631,657,0.444316140141,0.0046846273811,0.0796734116169,0.999999830451,0.000258648544534,-0.000521058568377,2.63928938478e-05,1793250351412515328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,746,720.469105553,694,661,639.530894447,890,786.530894447,820,654,631,656.469105553,0.443623261933,0.00467360424987,0.0796748232518,0.999999828741,0.000260655684871,-0.000523186255784,2.92128798723e-05,1793250351429181952
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,769,746,720.685298281,694,661.685298281,640,889.314701719,786.314701719,820,653.314701719,631,656,0.442223225121,0.00465448478977,0.0796869839058,0.999999849546,0.000240132927201,-0.000492271348545,3.02311841178e-05,1793250351462514944
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,769,746,721,693,664,641,888.505036103,788,819.505036103,653,631,656,0.434155978755,0.004549542909,0.079840060417,0.999999958346,0.000141652406116,-0.000247285607533,4.57501734975e-05,1793250351629182208
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.349529888,746,721,693,664,641,888,787.349529888,819.650470112,653.650470112,631,656,0.432187106722,0.00453014610478,0.0797353912375,0.999999896734,0.000128544722787,-0.000433314970914,4.73927494018e-05,1793250351662515456
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.224818117,746,721,693,664,641,888,787,819.775181883,653.775181883,631,656,0.431228288265,0.00452043567996,0.0797027139641,0.999999868427,0.000119029789165,-0.000496615243946,4.84890485966e-05,1793250351679182336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.799365837,746,721,693,664,641,888,787,819.200634163,653.200634163,631,656,0.430337860669,0.0045094426448,0.0797115127985,0.999999880545,9.9721970679e-05,-0.000475963112885,4.9245509971e-05,1793250351695848704
+325,5.416666667,POSE2_TO_POSE3_RETREAT,769,746,721,693,664,641,888,787,819,653.385742686,631,656,0.429497184141,0.00449579000722,0.0797690535957,0.99999992345,8.74023526971e-05,-0.000378008936306,5.06883053281e-05,1793250351712515072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,769,746,721,693,664,641,888,787,819,653.97846676,631,656,0.428683203039,0.00448071028373,0.0798527483016,0.999999967055,7.88324554806e-05,-0.000238576107782,5.24993721773e-05,1793250351729181696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.443709991,746,721,692.443709991,664,641,888,787.556290009,819,653.443709991,631,656,0.427735554406,0.00447284298232,0.0798520810401,0.999999967177,7.20558673894e-05,-0.000239912913909,5.38153674895e-05,1793250351745848576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.132848279,746,721,692,664.132848279,641,888,788,819.132848279,653,631,656,0.426780058112,0.00446469226516,0.0798367474687,0.999999961502,6.46642932875e-05,-0.000264278763438,5.45091279323e-05,1793250351762515200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.707070098,746,721,692,664.707070098,641,888,788,819.707070098,653,631,656,0.425815230783,0.00445469657381,0.0797832530788,0.999999936686,5.50048845941e-05,-0.000347524603074,5.31975901117e-05,1793250351779182336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,769,746,721,692,665,641,888,788,820,653,631,656,0.424862306957,0.00444854748655,0.0797477728202,0.999999916025,5.00320120269e-05,-0.000403164857458,5.38984480955e-05,1793250351795848960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,769,746,721,692,665,641,888,788,820,653,631,656,0.423921779182,0.00444640415037,0.0797310519984,0.999999904671,4.99395734686e-05,-0.000430057391691,5.66949614909e-05,1793250351812515840
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,769,746,721,692,664,641,888,787,819,653,630.615706628,656,0.421301609493,0.00449263782739,0.0798160786921,0.999999954329,0.000108996045302,-0.000276541584794,5.46498833994e-05,1793250351862515200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.807141737,746,721,691.614283474,664,641,887.614283474,787,819,653,631,656,0.420460297445,0.00448954018737,0.0798617742162,0.99999997341,0.000103914731969,-0.000198527478516,5.44897229058e-05,1793250351879182080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.23391045,746,721,690.4678209,664,641,886.4678209,787,819,653,631,656,0.419589713831,0.00447994847231,0.0798576890576,0.999999973131,8.83065783458e-05,-0.000207655371396,5.30886090778e-05,1793250351895848704
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,745.064625994,721,690,664,641,886,787.935374006,819,653,631,656,0.417830045156,0.00446921899102,0.079787443872,0.999999940816,7.56186834949e-05,-0.000331531252435,5.23147058737e-05,1793250351929182208
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,769,745.689031715,721,687.689031715,664,641,886.689031715,787,819,653,631,656,0.409642046108,0.00447736360295,0.0798025021457,0.999999943968,9.35549033749e-05,-0.000316601092217,5.54477685919e-05,1793250352112515840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745.10061472,721,687.10061472,664,641,886.10061472,787,819,653,631,656,0.409076321624,0.00448467974874,0.0798313506095,0.9999999577,0.000109337648391,-0.000263639484657,5.602840191e-05,1793250352129182464
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745,721,687,664,641,886,787.482543538,819,653,631,655.517456462,0.408491052914,0.00448355341652,0.0798356779452,0.999999958949,0.000104671226585,-0.000260690754103,5.64501252078e-05,1793250352145848832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,745.063961904,721,687,664,641,886.063961904,787.936038096,818.936038096,653,631,655.063961904,0.407901882564,0.00448048575065,0.0798304604607,0.999999955867,9.62601279789e-05,-0.000275264824981,5.68312200611e-05,1793250352162514944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,769,745.640133271,721,687,664,641,886.640133271,787.359866729,818.359866729,653,631,655.640133271,0.407313749842,0.00447581665824,0.0797893104142,0.999999933771,9.16383886755e-05,-0.000347553489683,5.71494398407e-05,1793250352179181568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,769,745.78510722,721,687,664.21489278,641,886.78510722,787,818,653,631.21489278,656,0.406763991989,0.00447381179652,0.0797629824349,0.999999918027,9.3181920982e-05,-0.000389942649021,5.66420794938e-05,1793250352195848448
+355,5.916666667,POSE2_TO_POSE3_RETREAT,769,745.212696681,721,687,664.787303319,641,886.212696681,787,818,653,631.787303319,656,0.406278078579,0.00447623942384,0.0797613139772,0.999999919803,0.000104982635118,-0.000382587907512,5.47611993983e-05,1793250352212515584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745,721,687,664.627907323,641,886.372092677,787,818,653,631.627907323,656,0.405841146588,0.00447779850326,0.0797770211358,0.9999999322,0.000105030001759,-0.000348745982087,5.42663489573e-05,1793250352229182720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745,721,687,664.035798385,641,886.964201615,787,818,653,631.035798385,656,0.40543317698,0.00447884401553,0.0798030023962,0.999999948922,9.8127682503e-05,-0.000299242335672,5.45910495987e-05,1793250352245849600
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745,721,687,664,641,886.455959515,787,818.544040485,653,631.544040485,656,0.405037396915,0.00448324124492,0.079818829436,0.999999953971,0.000100061000612,-0.000281247163979,5.42746650445e-05,1793250352262515712
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745.122379093,721,687,664,641.122379093,886.122379093,787,819,653,632,656,0.404645967772,0.00448667323878,0.0798310624882,0.999999956567,0.000103978259541,-0.000270356477366,5.44211138032e-05,1793250352279181824
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,746,721,686.721683722,664,641.721683722,886.721683722,787,819,653,632,656,0.403914282547,0.00448495412161,0.0798340363532,0.999999950901,0.000122231994846,-0.000282457589775,5.89431642517e-05,1793250352312515328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,746,721,686.136463163,664,641.136463163,886.136463163,787,819,653,632,656,0.403588107872,0.00448436029705,0.0798359931261,0.999999949553,0.000131252027434,-0.000282529572962,6.1996876629e-05,1793250352329181696
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,769,745.971091752,721,685.971091752,664,641,886,787,819,653,632,656,0.403013573699,0.00447798875009,0.0798418725046,0.999999957487,8.35251736944e-05,-0.000274829418401,5.01894993607e-05,1793250352362515200
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745.397252416,721,685.397252416,664,641,886,787,819,653,632,656,0.402766920038,0.00447378486401,0.0798382290218,0.999999954998,8.56130079081e-05,-0.000282523254762,5.34267270056e-05,1793250352379182080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,721,685.1776263,664,641,886,787,818.8223737,653,631.8223737,656,0.402532562647,0.00447035103851,0.0798347904075,0.999999952998,8.84224261105e-05,-0.000288136478498,5.62373421872e-05,1793250352395848704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,769,745,721,685.754843141,664,641,886,787,818.245156859,653,631.245156859,656,0.402325867146,0.00446864955234,0.0798318126689,0.999999952221,9.28551292e-05,-0.00028906912676,5.80882437369e-05,1793250352412515328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818,653,631.339378781,656,0.402142461727,0.00446454295536,0.0798339871345,0.999999953566,9.19796776865e-05,-0.000284403640286,5.93520283885e-05,1793250352429181952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818,653,631.929317887,656,0.401976251144,0.00445866068637,0.0798399654262,0.999999956409,8.71852634799e-05,-0.000275605100999,6.01823500654e-05,1793250352445848320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664.509167683,641,885.490832317,787,818.509167683,653,632,656,0.401834296281,0.00445706303383,0.0798453620911,0.99999995782,9.48176127271e-05,-0.000267707144056,6.08544108573e-05,1793250352462515200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769,745.086994213,721,685.913005787,665,641,885,787,818.913005787,653,632,656,0.401698494246,0.00445785369182,0.0798492598575,0.999999958264,0.000104798021906,-0.000262159654613,6.13325886963e-05,1793250352479181824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745.661181388,721,685.338818612,665,641,885,787,818.338818612,653,632,656,0.401578659145,0.00446875333227,0.079845206743,0.999999954929,0.000118455073988,-0.000269088932973,6.08456113242e-05,1793250352495848448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745.764872069,721,685.235127931,664.764872069,641,885.235127931,787,818,653,631.764872069,656,0.401466943295,0.00447747283062,0.0798407638565,0.999999951871,0.000127738487852,-0.000276252395577,6.0208575875e-05,1793250352512515072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745.191271956,721,685.808728044,664.191271956,641,885.808728044,787,818,653,631.191271956,656,0.401366915305,0.00448305396253,0.0798357598843,0.999999949436,0.000130725945917,-0.00028375297155,5.93555283396e-05,1793250352529181952
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818,653,631.395364483,656,0.401282977992,0.00448129389448,0.0798310303792,0.99999994875,0.000120742056056,-0.000290815272218,5.78608062878e-05,1793250352545848576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818,653,631.988522744,656,0.40120709056,0.00447586115523,0.0798264381851,0.999999948693,0.000104268832726,-0.000297658311292,5.60450659643e-05,1793250352562515200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,769,745.568259608,721,686,664,641,886,787,818,653,631.431740392,656,0.401156344254,0.00447581519007,0.0798257497978,0.999999948721,0.000102237744338,-0.000298263586851,5.60739058398e-05,1793250352579181824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,769,745.85437952,721,685.85437952,664.14562048,641,886,787,818,653,631.14562048,656,0.401109916295,0.00447560202392,0.0798256130165,0.999999948901,0.000100460341341,-0.000298249203131,5.61600049152e-05,1793250352595848448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,769,745.283188572,721,685.283188572,664.716811428,641,886,787,818,653,631.716811428,656,0.401074658822,0.00447458959793,0.0798268631755,0.999999949514,9.85915384386e-05,-0.000296783580288,5.6307076624e-05,1793250352612515072
+380,6.333333333,POSE2_TO_POSE3_RETREAT,769,745,721,685.29725292,664.70274708,641,885.70274708,787,818.29725292,653,632,656,0.401044761465,0.00447433560708,0.0798272668499,0.999999949514,9.86707675679e-05,-0.000296741410524,5.64050241196e-05,1793250352629181696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,769,745,721,685.886790411,664.113209589,641,885.113209589,787,818.886790411,653,632,656,0.401020134628,0.00447482737461,0.0798268381881,0.999999948908,0.00010066546867,-0.000298098901758,5.64546684924e-05,1793250352645848576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,640.530069238,885.469930762,787,819,653,632,656,0.401004858944,0.0044745305442,0.0798275172719,0.999999949219,0.000100378478835,-0.000297143640169,5.65041630086e-05,1793250352662515712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745.050660125,721,685.949339875,664.050660125,640.050660125,886,787,819,653,632,656,0.400992449161,0.00447399677089,0.0798284538199,0.99999994979,9.93154572408e-05,-0.000295569315944,5.6519126352e-05,1793250352679182848
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745.6222326,721,685.3777674,664.6222326,640.6222326,886,787,819,653,632,656,0.400986655096,0.00447295385346,0.0798293305709,0.999999950821,9.58490182612e-05,-0.000293281518456,5.61793894355e-05,1793250352695849728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745.800899682,721,685,665,641,886,787,819,653,632,656.199100318,0.40098196371,0.00447309827199,0.0798304731409,0.999999951548,9.56399973613e-05,-0.000290914045903,5.59168618485e-05,1793250352712516352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,769,745.213710444,721,685,665,641,886,787,819,653,632,656.786289556,0.400979421682,0.00447555706121,0.0798321338488,0.999999951679,0.000101780378201,-0.00028839126982,5.58048317074e-05,1793250352729182208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,641,886,787.370510236,819,653,632,656.629489764,0.400977179584,0.00447668168798,0.0798326871926,0.999999951991,0.000102927764614,-0.000286977495175,5.53843427832e-05,1793250352745848832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,665,641,886,787.953032242,819,653,632,656.046967758,0.40097510911,0.00447704288598,0.0798326068853,0.999999952422,0.000101218081087,-0.000286198308639,5.47873489095e-05,1793250352762515200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,769,745.530735356,721,685.530735356,665,641,886,787.469264644,819,653,632,656,0.400975886694,0.00447603417123,0.0798334311572,0.999999953132,9.9704000879e-05,-0.000284254007685,5.47225622874e-05,1793250352779181824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745.892279095,721,686,664.892279095,641,886,787,819,653,631.892279095,656,0.400976372961,0.00447513690585,0.0798341031828,0.999999953667,9.82598418267e-05,-0.000282874408341,5.4706301884e-05,1793250352795848448
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745.316575097,721,686,664.316575097,641,886,787,819,653,631.316575097,656,0.400974508509,0.00447524576053,0.0798337691429,0.999999953356,9.70449237931e-05,-0.000284392011485,5.46980872793e-05,1793250352812515328
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818.735717471,653,631.264282529,656,0.400973839933,0.00447491981756,0.0798341006008,0.999999953464,9.63605949221e-05,-0.000284245351128,5.46901060094e-05,1793250352829182208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,818.148563634,653,631.851436366,656,0.400974632347,0.00447406268672,0.0798352450909,0.999999954085,9.63244813363e-05,-0.00028206547698,5.46824098009e-05,1793250352845848832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.567590586,745.432409414,721,685.567590586,664.432409414,641,886,787,818.432409414,653,631.567590586,656,0.400975300817,0.00447500178448,0.0798361422747,0.999999954331,9.73199158777e-05,-0.000280860074985,5.4628937345e-05,1793250352862515456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,745.988740105,721,685.011259895,664.988740105,641,886,787,819,653,631.011259895,656,0.400975922348,0.00447651758912,0.0798369499053,0.999999954455,9.85981127338e-05,-0.0002799852538,5.4553781539e-05,1793250352879182080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,745.411343352,721,685.588656648,664.411343352,641,886,787,819,653,631.588656648,656,0.400976294715,0.00447643806705,0.0798374667652,0.999999954916,9.65250175686e-05,-0.000279135464677,5.4168023424e-05,1793250352895848704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768.165258939,745,721,685.834741061,664,641,886,787,818.834741061,653,631.834741061,656,0.400976557438,0.00447626022766,0.0798378322426,0.999999955188,9.5531007816e-05,-0.000278531161164,5.40206162127e-05,1793250352912515072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.739893172,745,721,685.260106828,664,641,886,787,818.260106828,653,631.260106828,656,0.40097654855,0.00447583883908,0.079837822719,0.999999955001,9.72100814706e-05,-0.000278534968493,5.44636458968e-05,1793250352929181952
+399,6.650000000,POSE2_TO_POSE3_RETREAT,769,745,721.323901891,685,664,641,886,787,818.323901891,653,631.323901891,656,0.40097647828,0.00447610928642,0.0798376987058,0.999999954974,9.89031343789e-05,-0.000278023572574,5.45190300747e-05,1793250352945848832
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,721.915663063,685,664,641,886,787,818.915663063,653,631.915663063,656,0.400976357249,0.00447695186587,0.0798374800124,0.999999955079,0.000100607747719,-0.000277086115631,5.42538404728e-05,1793250352962516224
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745,721.50337142,685,664,641,886,787,818.50337142,653,632,656,0.400975977934,0.00447689442937,0.0798378118852,0.999999954996,9.93293019773e-05,-0.000277848532237,5.4239230039e-05,1793250352979182848
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768.925019936,745,721,685,664.074980064,641,886,787,818.074980064,653,631.925019936,656,0.400975599779,0.0044768958172,0.0798381044377,0.999999954869,9.78640365137e-05,-0.000278831493035,5.42023354007e-05,1793250352995848960
+403,6.716666667,POSE2_TO_POSE3_RETREAT,768.352112394,745,721,685,664.647887606,641,886,787,818.647887606,653,631.352112394,656,0.400975514399,0.00447828122956,0.0798375281893,0.999999954677,9.84506623528e-05,-0.000279402823885,5.37408815147e-05,1793250353012515328
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33279da4c2448bf9a26ba11ba3943b657e5cf158
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,409 @@
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+235,3.916666667,pose1_to_pose2_press,0.619544962436,0.0101501903476,1.07003359957,0.590115640596,0.0188228243587,1.06970498843
+236,3.933333333,pose1_to_pose2_press,0.619545233661,0.0101501944324,1.07003361828,0.590115912003,0.0188228291182,1.06970500856
+237,3.950000000,pose1_to_pose2_press,0.619545342878,0.0101501960773,1.07003362581,0.590116021293,0.0188228310348,1.06970501667
+238,3.966666667,pose1_to_pose2_press,0.619545444839,0.0101501939486,1.07003363132,0.590116123359,0.0188228292856,1.06970502287
+239,3.983333333,pose1_to_pose2_press,0.619545559493,0.0101501390224,1.07003361574,0.590116238637,0.0188227765905,1.06970501022
+240,4.000000000,pose1_to_pose2_press,0.619545740375,0.0101500523689,1.07003359115,0.590116420504,0.0188226934569,1.06970499027
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+242,4.033333333,pose1_to_pose2_press,0.619545827223,0.0101500402113,1.0700335906,0.590116507456,0.0188226816646,1.06970499014
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+244,4.066666667,pose1_to_pose2_press,0.619545911794,0.010150068843,1.07003360555,0.590116591619,0.0188227088318,1.069705003
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+265,4.416666667,pose2_to_pose3_retreat,0.619545911326,0.010150054625,1.07003360521,0.590116591465,0.0188226956589,1.06970500211
+266,4.433333333,pose2_to_pose3_retreat,0.619545910804,0.0101500387748,1.07003360483,0.590116591294,0.0188226809737,1.06970500112
+267,4.450000000,pose2_to_pose3_retreat,0.619545910786,0.0101500382153,1.07003360482,0.590116591288,0.0188226804553,1.06970500109
+268,4.466666667,pose2_to_pose3_retreat,0.619545910687,0.0101500352221,1.07003360474,0.590116591255,0.0188226776822,1.0697050009
+269,4.483333333,pose2_to_pose3_retreat,0.619545910222,0.0101500210755,1.07003360441,0.590116591102,0.0188226645754,1.06970500002
+270,4.500000000,pose2_to_pose3_retreat,0.61954570691,0.0101500991187,1.07003351293,0.590116386328,0.0188227377843,1.06970491192
+271,4.516666667,pose2_to_pose3_retreat,0.619544243807,0.0101500194123,1.07003361936,0.590114922782,0.0188226562419,1.06970500974
+272,4.533333333,pose2_to_pose3_retreat,0.61954018522,0.0101501507747,1.07003363512,0.590110862906,0.0188227831811,1.06970502453
+273,4.550000000,pose2_to_pose3_retreat,0.619530278075,0.0101502022596,1.07003362921,0.590100954409,0.018822830106,1.06970501901
+274,4.566666667,pose2_to_pose3_retreat,0.619512559422,0.0101501617053,1.07003375943,0.590083237406,0.0188227948777,1.06970514122
+275,4.583333333,pose2_to_pose3_retreat,0.619484973754,0.0101499777227,1.07003359595,0.590055653689,0.0188226181034,1.06970499322
+276,4.600000000,pose2_to_pose3_retreat,0.619447710062,0.010150198771,1.07003364548,0.590018386282,0.0188228261088,1.06970503175
+277,4.616666667,pose2_to_pose3_retreat,0.619401333426,0.0101501467338,1.07003357503,0.589972011388,0.0188227803648,1.06970497618
+278,4.633333333,pose2_to_pose3_retreat,0.61934715071,0.0101501450865,1.07003363445,0.589917828032,0.0188227760151,1.06970502455
+279,4.650000000,pose2_to_pose3_retreat,0.619285029408,0.0101501844552,1.07003369294,0.589855707593,0.0188228187875,1.06970509285
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+281,4.683333333,pose2_to_pose3_retreat,0.619138851335,0.0101500540264,1.07003379984,0.589709530541,0.0188226915503,1.06970518883
+282,4.700000000,pose2_to_pose3_retreat,0.619051643209,0.010150074198,1.07003370571,0.58962232239,0.0188227114872,1.06970509352
+283,4.716666667,pose2_to_pose3_retreat,0.618953625563,0.0101501682602,1.07003368354,0.589524303089,0.0188227997455,1.06970507022
+284,4.733333333,pose2_to_pose3_retreat,0.618841925859,0.0101502552486,1.07003372533,0.589412601682,0.0188228811318,1.06970511794
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+286,4.766666667,pose2_to_pose3_retreat,0.618574114454,0.010150239021,1.0700335921,0.589144791138,0.0188228678503,1.06970498885
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+288,4.800000000,pose2_to_pose3_retreat,0.618239883822,0.0101501977624,1.07003357763,0.588810561013,0.0188228279626,1.06970496843
+289,4.816666667,pose2_to_pose3_retreat,0.618048430405,0.0101501113063,1.07003361783,0.588619108379,0.0188227442119,1.06970501148
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+292,4.866666667,pose2_to_pose3_retreat,0.617378708196,0.0101501756296,1.07003362865,0.587949385927,0.018822807245,1.06970501554
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+296,4.933333333,pose2_to_pose3_retreat,0.616249528418,0.0101501305871,1.07003349799,0.586820206745,0.0188227641785,1.06970489172
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+298,4.966666667,pose2_to_pose3_retreat,0.615546374465,0.0101500184924,1.07003327172,0.586117053603,0.0188226546908,1.06970466504
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+322,5.366666667,pose2_to_pose3_retreat,0.601445704175,0.0101501994139,1.07003354292,0.572016382535,0.0188228329486,1.06970494116
+323,5.383333333,pose2_to_pose3_retreat,0.600675688971,0.0101501242369,1.07003362741,0.5712463685,0.0188227615251,1.06970501989
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+328,5.466666667,pose2_to_pose3_retreat,0.596946037478,0.0101500011964,1.07003350481,0.567516717115,0.0188226391848,1.06970490581
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+331,5.516666667,pose2_to_pose3_retreat,0.594610133525,0.0101500727542,1.07003355747,0.565180812926,0.0188227098339,1.06970495546
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+335,5.583333333,pose2_to_pose3_retreat,0.591708763425,0.0101501409861,1.07003371321,0.562279442424,0.0188227764471,1.06970510435
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+337,5.616666667,pose2_to_pose3_retreat,0.590285846521,0.0101502225317,1.07003376193,0.560856524194,0.0188228534878,1.06970515286
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+346,5.766666667,pose2_to_pose3_retreat,0.584466000733,0.0101502005029,1.07003358708,0.555036678036,0.0188228300634,1.06970497406
+347,5.783333333,pose2_to_pose3_retreat,0.583894657512,0.0101501359603,1.07003340345,0.554465336012,0.0188227696879,1.0697047932
+348,5.800000000,pose2_to_pose3_retreat,0.583343199263,0.0101501574678,1.07003345388,0.553913877732,0.0188227915374,1.06970485544
+349,5.816666667,pose2_to_pose3_retreat,0.582819700877,0.0101501198094,1.07003348287,0.553390379114,0.0188227528794,1.06970487888
+350,5.833333333,pose2_to_pose3_retreat,0.582320137905,0.010150150575,1.07003357349,0.552890815616,0.0188227817501,1.06970496651
+351,5.850000000,pose2_to_pose3_retreat,0.581834180492,0.0101501073025,1.07003348827,0.552404858936,0.0188227409536,1.06970488094
+352,5.866666667,pose2_to_pose3_retreat,0.581359045721,0.0101500408642,1.07003342827,0.551929725442,0.0188226788965,1.06970482224
+353,5.883333333,pose2_to_pose3_retreat,0.580897184541,0.0101500720295,1.07003345849,0.551467864799,0.0188227119055,1.06970485306
+354,5.900000000,pose2_to_pose3_retreat,0.580459914568,0.0101502136427,1.07003344044,0.551030594053,0.0188228507957,1.06970483232
+355,5.916666667,pose2_to_pose3_retreat,0.580052688198,0.0101503280691,1.07003374789,0.550623365218,0.0188229566921,1.06970513538
+356,5.933333333,pose2_to_pose3_retreat,0.579677102385,0.0101502504695,1.07003341021,0.550247778356,0.0188228758926,1.06970480725
+357,5.950000000,pose2_to_pose3_retreat,0.579327743012,0.0101502039947,1.07003342748,0.549898421196,0.0188228371507,1.06970483042
+358,5.966666667,pose2_to_pose3_retreat,0.578996265042,0.0101501563254,1.07003336177,0.54956694402,0.0188227924675,1.06970477233
+359,5.983333333,pose2_to_pose3_retreat,0.57867870886,0.0101501049636,1.07003340695,0.549249388044,0.0188227417646,1.06970481653
+360,6.000000000,pose2_to_pose3_retreat,0.578374759784,0.0101500952507,1.0700336062,0.548945438933,0.0188227314384,1.06970500293
+361,6.016666667,pose2_to_pose3_retreat,0.57808772551,0.0101501933987,1.07003364213,0.548658402999,0.0188228235417,1.06970502811
+362,6.033333333,pose2_to_pose3_retreat,0.577818899268,0.0101503201781,1.07003347775,0.548389575135,0.0188229452448,1.06970487509
+363,6.050000000,pose2_to_pose3_retreat,0.577571922809,0.010150152759,1.07003323236,0.548142601286,0.0188227870417,1.069704639
+364,6.066666667,pose2_to_pose3_retreat,0.577344668997,0.0101499813126,1.07003340225,0.547915349216,0.0188226212831,1.06970480312
+365,6.083333333,pose2_to_pose3_retreat,0.577137170858,0.0101499455792,1.07003350573,0.547707851827,0.0188225877749,1.06970489817
+366,6.100000000,pose2_to_pose3_retreat,0.576947903377,0.0101499973684,1.07003361114,0.547518584703,0.0188226407434,1.06970500277
+367,6.116666667,pose2_to_pose3_retreat,0.576777683469,0.0101501109597,1.0700336947,0.547348363527,0.0188227501947,1.06970509055
+368,6.133333333,pose2_to_pose3_retreat,0.576624669641,0.0101502653486,1.07003359894,0.547195345694,0.0188228909871,1.06970499463
+369,6.150000000,pose2_to_pose3_retreat,0.576487950701,0.0101501453822,1.07003350061,0.547058626168,0.0188227689766,1.06970489481
+370,6.166666667,pose2_to_pose3_retreat,0.576365731658,0.010150130139,1.07003358458,0.546936410813,0.0188227662341,1.06970497848
+371,6.183333333,pose2_to_pose3_retreat,0.576255394266,0.0101501402112,1.07003362029,0.546826073306,0.0188227758875,1.06970501335
+372,6.200000000,pose2_to_pose3_retreat,0.576155943342,0.0101501920471,1.07003361406,0.546726620137,0.0188228201216,1.06970500813
+373,6.216666667,pose2_to_pose3_retreat,0.576066131959,0.0101502174205,1.07003355657,0.546636808174,0.0188228436723,1.06970495486
+374,6.233333333,pose2_to_pose3_retreat,0.575986401714,0.0101501583907,1.07003354682,0.546557080367,0.0188227930071,1.06970494719
+375,6.250000000,pose2_to_pose3_retreat,0.575917922738,0.0101502596826,1.07003393921,0.546488599788,0.0188228883882,1.06970532701
+376,6.266666667,pose2_to_pose3_retreat,0.575860198293,0.0101500775187,1.07003299059,0.546430877938,0.0188227157935,1.06970439851
+377,6.283333333,pose2_to_pose3_retreat,0.575813384758,0.0101501194301,1.07003333514,0.546384063044,0.0188227524361,1.06970472571
+378,6.300000000,pose2_to_pose3_retreat,0.575775386341,0.0101501861989,1.07003373817,0.546346064426,0.0188228185408,1.06970512925
+379,6.316666667,pose2_to_pose3_retreat,0.575745758041,0.0101501196027,1.07003371513,0.546316436119,0.0188227519596,1.06970510723
+380,6.333333333,pose2_to_pose3_retreat,0.57572190192,0.0101499463164,1.07003356671,0.546292581538,0.0188225838662,1.069704958
+381,6.350000000,pose2_to_pose3_retreat,0.575703631871,0.0101498986317,1.07003346703,0.546274312576,0.0188225398294,1.06970485725
+382,6.366666667,pose2_to_pose3_retreat,0.575690241302,0.010150092455,1.07003343133,0.546260920301,0.0188227278332,1.06970482076
+383,6.383333333,pose2_to_pose3_retreat,0.575680796537,0.0101501753009,1.07003362837,0.546251474114,0.0188228058133,1.06970501678
+384,6.400000000,pose2_to_pose3_retreat,0.575674845134,0.0101501490155,1.07003355175,0.546245522772,0.0188227797576,1.06970494083
+385,6.416666667,pose2_to_pose3_retreat,0.575670925577,0.0101501122027,1.07003357541,0.546241603856,0.0188227453146,1.06970496967
+386,6.433333333,pose2_to_pose3_retreat,0.575668567792,0.0101500779004,1.07003366774,0.546239246925,0.0188227141809,1.06970506921
+387,6.450000000,pose2_to_pose3_retreat,0.575667169861,0.0101500823963,1.0700335678,0.546237849377,0.0188227200089,1.06970497
+388,6.466666667,pose2_to_pose3_retreat,0.575666465108,0.0101500929144,1.07003346602,0.546237144778,0.0188227310171,1.0697048674
+389,6.483333333,pose2_to_pose3_retreat,0.575665845769,0.0101501021578,1.07003337658,0.546236525573,0.0188227406912,1.06970477723
+390,6.500000000,pose2_to_pose3_retreat,0.575665462585,0.0101501023938,1.07003336307,0.546236142325,0.0188227406556,1.06970476231
+391,6.516666667,pose2_to_pose3_retreat,0.575665415608,0.0101501011916,1.07003337081,0.546236095307,0.0188227392994,1.06970476966
+392,6.533333333,pose2_to_pose3_retreat,0.57566535788,0.0101500997143,1.07003338032,0.546236037529,0.0188227376327,1.06970477869
+393,6.550000000,pose2_to_pose3_retreat,0.57566531348,0.010150098578,1.07003338763,0.54623599309,0.0188227363508,1.06970478563
+394,6.566666667,pose2_to_pose3_retreat,0.575665137481,0.010150094074,1.07003341662,0.546235816937,0.0188227312694,1.06970481316
+395,6.583333333,pose2_to_pose3_retreat,0.575664869718,0.0101500872216,1.07003346073,0.54623554894,0.0188227235387,1.06970485504
+396,6.600000000,pose2_to_pose3_retreat,0.57566468091,0.0101500823898,1.07003349183,0.546235359967,0.0188227180875,1.06970488457
+397,6.616666667,pose2_to_pose3_retreat,0.575664592252,0.0101500827587,1.07003353081,0.546235271271,0.0188227183063,1.06970492308
+398,6.633333333,pose2_to_pose3_retreat,0.575664572048,0.010150084425,1.07003355433,0.546235251081,0.018822720023,1.06970494665
+399,6.650000000,pose2_to_pose3_retreat,0.575664557332,0.0101500856388,1.07003357145,0.546235236375,0.0188227212734,1.06970496381
+400,6.666666667,pose2_to_pose3_retreat,0.575664512842,0.0101500893082,1.07003362323,0.546235191916,0.0188227250534,1.0697050157
+401,6.683333333,pose2_to_pose3_retreat,0.575664464799,0.0101500932706,1.07003367913,0.546235143907,0.0188227291354,1.06970507173
+402,6.700000000,pose2_to_pose3_retreat,0.575664413989,0.0101500974613,1.07003373826,0.546235093133,0.0188227334525,1.06970513099
+403,6.716666667,pose2_to_pose3_retreat,0.57566431445,0.0101501784889,1.07003350192,0.546234992258,0.0188228100707,1.06970489795
+404,6.733333333,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532844,1.06970476168
+405,6.750000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+406,6.766666667,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532846,1.06970476168
+407,6.783333333,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c854fed327a4c1d1a26f4e98f5d620cd0837389
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564c572374d44b87f6ee9510a074796402808121e857e63067a142b373a635d4
+size 25874548
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c046d5e2372a6f976a0ceecf53700b721132d9b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
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+1,0.016666667,BASELINE,768.576505288,745,721,685,664,641.423494712,885.423494712,787,818.576505288,653,631.576505288,656,0.400974023451,0.00447748074846,0.0798382367982,0.999999955181,9.90388051747e-05,-0.000277382465507,5.37419712829e-05,1793250353240438528
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+27,0.450000000,BASELINE,768.325307782,745,721,685.325307782,665,641,886,787.325307782,819,653,632,656,0.400977436041,0.00447830460253,0.079840759499,0.999999956852,9.79129164362e-05,-0.000271901563204,5.27207148571e-05,1793250353673771776
+28,0.466666667,BASELINE,768.257909613,745,721,685.257909613,665,641,885.742090387,787,818.742090387,653,632,656,0.400976599327,0.00447813183068,0.0798403314227,0.999999956588,9.83225855149e-05,-0.000272708448574,5.27991749875e-05,1793250353690438400
+29,0.483333333,BASELINE,768.836347574,745,721,685.836347574,665,641,885.163652426,787,818.163652426,653,632,656,0.400975321178,0.00447705407108,0.0798397118493,0.999999956291,9.77952423682e-05,-0.000273942748979,5.30096375179e-05,1793250353707105280
+30,0.500000000,BASELINE,769,745,721.413218798,686,664.586781202,641,885,787,818.413218798,653,632,656,0.400974618021,0.00447755262692,0.0798391288795,0.999999956022,9.82904836259e-05,-0.000274762138251,5.29171494969e-05,1793250353723772160
+31,0.516666667,BASELINE,769,745,721.989471857,686,664.010528143,641,885,787,818.989471857,653,632,656,0.400974141726,0.00447867311341,0.0798385603516,0.999999955764,9.91891825652e-05,-0.000275417825525,5.27051332217e-05,1793250353740438784
+32,0.533333333,BASELINE,769,745,721.433972187,685.433972187,664,641,885.566027813,787,818.433972187,653,632,656,0.400972844549,0.00447818593045,0.0798379496326,0.999999955532,9.80050971915e-05,-0.000276719499869,5.2511435409e-05,1793250353757104896
+33,0.550000000,BASELINE,769,745,721,685.146119937,664.146119937,641,886,787,818.146119937,653,631.853880063,656,0.400972485872,0.00447754626727,0.0798378853413,0.999999955587,9.67194011659e-05,-0.000276981961106,5.24545822616e-05,1793250353773771520
+34,0.566666667,BASELINE,769,745,721,685.736957151,664.736957151,641,886,787,818.736957151,653,631.263042849,656,0.400975030022,0.0044765335873,0.0798394864968,0.999999956519,9.52424207744e-05,-0.000274044979598,5.28131795075e-05,1793250353790438144
+35,0.583333333,BASELINE,769,745,721,686,665,641,886,787,818.678951527,653,631,656,0.400977463803,0.0044766195431,0.0798411409484,0.99999995712,9.65517804211e-05,-0.000271350839206,5.29833613962e-05,1793250353807105024
+36,0.600000000,BASELINE,769,745,721,686,665,641,886,787,818.100273471,653,631,656,0.400979809019,0.00447758711356,0.0798428381681,0.999999957445,0.000100097075239,-0.000268851569549,5.30023469335e-05,1793250353823771904
+37,0.616666667,BASELINE,769,745,721,686,665,641,886,787,818,653,631.473792763,656,0.400977393219,0.00447819777676,0.0798415992659,0.999999956621,0.000102221279297,-0.000271078530328,5.31619292884e-05,1793250353840438784
+38,0.633333333,BASELINE,769,745,721,685.951908359,665,641,886,787,818,653,632,656,0.400974343362,0.00447858907102,0.0798399298483,0.999999955666,0.000103711821979,-0.0002739834866,5.33466274126e-05,1793250353857105408
+39,0.650000000,BASELINE,769,745,721,685.364151204,665,641,886,787,818,653,632,656,0.400975376502,0.00447735815599,0.0798403352491,0.999999956057,0.000101434137462,-0.000273380333868,5.34824748238e-05,1793250353873772032
+40,0.666666667,BASELINE,768.779532266,745.220467734,721,685.220467734,664.779532266,641,886,787,818.220467734,653,632,656,0.400976078221,0.00447743041804,0.0798405478923,0.999999956264,0.000100614533312,-0.000272951542249,5.33402390842e-05,1793250353890438656
+41,0.683333333,BASELINE,768.200024075,745.799975925,721,685.799975925,664.200024075,641,886,787,818.799975925,653,632,656,0.400976240208,0.00447962495577,0.0798404466222,0.999999956178,0.000102169471053,-0.000272806704658,5.27451338865e-05,1793250353907105024
+42,0.700000000,BASELINE,768,745.621926591,721,686,664.378073409,641,886,787,818.621926591,653,632,655.621926591,0.400976873223,0.00447891266621,0.079840635908,0.999999956595,0.000100327608668,-0.000271955394344,5.2772775813e-05,1793250353923771648
+43,0.716666667,BASELINE,768,745.044572701,721,686,664.955427299,641,886,787,818.044572701,653,632,655.044572701,0.400977754514,0.00447666820338,0.0798409783442,0.999999957266,9.66953109724e-05,-0.00027073170602,5.3128664451e-05,1793250353940438016
+44,0.733333333,BASELINE,768.530092966,745,721,686,665,641,886,787,818,652.469907034,632,655.530092966,0.400977067487,0.00447674923922,0.0798406799732,0.999999957119,9.76818119104e-05,-0.000270876153453,5.33601119394e-05,1793250353957105152
+45,0.750000000,BASELINE,768.895772598,745,721,685.895772598,665,641,886,787,818.104227402,652.104227402,632,656,0.40097635691,0.00447715858154,0.0798403855455,0.999999956844,9.92831964478e-05,-0.000271276051164,5.35208370378e-05,1793250353973771776
+46,0.766666667,BASELINE,768.323015376,745,721,685.323015376,665,641,886,787,818.676984624,652.676984624,632,656,0.400976130281,0.00447816918467,0.0798403498361,0.999999956304,0.000101911627063,-0.000272309742802,5.34104454731e-05,1793250353990438656
+47,0.783333333,BASELINE,768.260291892,745,721,685.260291892,665.260291892,641,886,787,818.739708108,653,632,656,0.400975701858,0.00447839679806,0.0798401741682,0.999999956034,0.000102268494815,-0.000273170066241,5.34065572671e-05,1793250354007105792
+48,0.800000000,BASELINE,768.857244639,745,721,685.857244639,665.857244639,641,886,787,818.142755361,653,632,656,0.400975012435,0.00447761169468,0.0798398174784,0.999999956113,9.9687329435e-05,-0.000273806155848,5.3540420213e-05,1793250354023772416
+49,0.816666667,BASELINE,768.561954153,745,721,685.561954153,665.123908305,641,886,787,818,653,631.561954153,656,0.400974457665,0.00447804931652,0.0798394616469,0.999999956007,9.96864267312e-05,-0.000274204493931,5.34836248542e-05,1793250354040439040
+50,0.833333333,BASELINE,768.013727987,745,721,685,664,641,885.986272013,787,818,653,631.013727987,656,0.400974012424,0.00447880828184,0.0798391582218,0.999999955871,0.000100408920173,-0.000274460625597,5.33645940635e-05,1793250354057105152
+51,0.850000000,BASELINE,768.587673119,745,721,685,664,641,885.412326881,787,818,653,631.587673119,656,0.400976309769,0.00447699786769,0.0798409824134,0.999999956847,9.75571391288e-05,-0.000271962985836,5.31512524935e-05,1793250354073771776
+52,0.866666667,BASELINE,769,745,721,685,664,641,885.166691914,787,818,653,632,656,0.400977329788,0.00447616317875,0.0798419117423,0.999999957278,9.6355865425e-05,-0.000270844222446,5.2936640927e-05,1793250354090438400
+53,0.883333333,BASELINE,769,745,721,685,664,641,885.758654803,787,818,653,632,656,0.400975091043,0.00447781779853,0.0798405580621,0.999999956343,9.93654312158e-05,-0.000273243302907,5.27187893095e-05,1793250354107105280
+54,0.900000000,BASELINE,768.657713921,745,721,685.342286079,664.342286079,641,886,787,818,653,632,656,0.400974177745,0.00447840618093,0.0798399935248,0.999999955905,0.000100967750466,-0.000274244946989,5.27827662842e-05,1793250354123771904
+55,0.916666667,BASELINE,768.079817676,745,721,685.920182324,664.920182324,641,886,787,818,653,632,656,0.400974176808,0.00447826062642,0.0798399721884,0.999999955816,0.000101601401531,-0.000274284675667,5.30407379584e-05,1793250354140438784
+56,0.933333333,BASELINE,768.496274994,745,721,685.503725006,665,641,886,787,818,653,631.503725006,656,0.400975675142,0.00447710648748,0.0798404349615,0.999999956415,9.93146651918e-05,-0.000272962724508,5.29050591413e-05,1793250354157105408
+57,0.950000000,BASELINE,768.926617799,745,721,685,664.926617799,641,886,787,818.073382201,653,631,656,0.400977023607,0.0044762632331,0.0798408242581,0.999999956967,9.71375048257e-05,-0.00027175815294,5.27009274639e-05,1793250354173772032
+58,0.966666667,BASELINE,768.340400858,745,721,685,664.340400858,641,886,787,818.659599142,653,631,656,0.400975645634,0.00447872214601,0.0798401578956,0.999999956487,9.8996729499e-05,-0.000272898870277,5.24592680556e-05,1793250354190438400
+59,0.983333333,BASELINE,768.242546464,745,721,685.242546464,664.242546464,641,885.757453536,787,818.757453536,653,631,656,0.400974776331,0.00447964462046,0.0798398151016,0.999999956227,9.99233633771e-05,-0.000273512338738,5.24574987124e-05,1793250354207105024
+60,1.000000000,BASELINE,768.820966171,745,721,685.820966171,664.820966171,641,885.179033829,787,818.179033829,653,631,656,0.400974611425,0.00447843946758,0.0798399203784,0.999999956278,9.95585653943e-05,-0.000273395684207,5.27879240535e-05,1793250354223771648
+61,1.016666667,BASELINE,768.600852842,745,721,685.600852842,665,641,885.399147158,787,818,653,631,656,0.400974931108,0.00447746467494,0.0798402216935,0.999999956358,9.93421616636e-05,-0.000273148511792,5.29716936999e-05,1793250354240438272
+62,1.033333333,BASELINE,768.022778901,745,721,685.022778901,665,641,885.977221099,787,818,653,631,656,0.400975468021,0.00447659314658,0.0798406108871,0.99999995645,9.919227905e-05,-0.000272842831776,5.3089721579e-05,1793250354257104896
+63,1.050000000,BASELINE,768,745,721,685.55175631,665,641,885.44824369,787,818,653,631,656,0.400977325319,0.00447843083182,0.0798417787575,0.99999995722,9.88943904607e-05,-0.000270193192739,5.26805535244e-05,1793250354273771520
+64,1.066666667,BASELINE,768,745,721,685.870177041,665,641,885.129822959,787,818,652.870177041,631.129822959,656,0.400978344785,0.00447989542041,0.0798424280419,0.999999957618,9.89726857002e-05,-0.000268738828974,5.24153151617e-05,1793250354290438144
+65,1.083333333,BASELINE,768,745,721,685.279046126,665,641,885.720953874,787,818,652.279046126,631.720953874,656,0.400976194669,0.00447963935742,0.0798411211001,0.999999956611,0.000100409272091,-0.000271873374336,5.27383569613e-05,1793250354307105280
+66,1.100000000,BASELINE,768.305595219,745,721,685,665,641,885.694404781,787,818,652.305595219,632,655.694404781,0.400974904341,0.00447895314294,0.0798405089161,0.999999956226,9.98425875197e-05,-0.00027347094003,5.28585684271e-05,1793250354323772160
+67,1.116666667,BASELINE,768.884433976,745,721,685,665,641,885.115566024,787,818,652.884433976,632,655.115566024,0.40097438278,0.00447788231474,0.0798405179396,0.9999999564,9.74847071523e-05,-0.000273694237443,5.27974220701e-05,1793250354340438528
+68,1.133333333,BASELINE,768.540470452,744.540470452,721,685,664.540470452,641,885,787,818,653,631.540470452,655.459529548,0.400974704493,0.0044789309659,0.0798402390899,0.99999995638,9.91473355982e-05,-0.000273193020758,5.26767522156e-05,1793250354357105152
+69,1.150000000,BASELINE,768.033688205,744.033688205,721,684.966311795,664.033688205,641,885,787,818,653,631.033688205,656,0.400975270685,0.00448036045279,0.0798400108764,0.999999956334,0.000101713062514,-0.000272439929108,5.25650997172e-05,1793250354373771520
+70,1.166666667,BASELINE,768.607795553,744.607795553,721,684.392204447,664.607795553,641,885,787,818,653,631.607795553,656,0.400976384206,0.00447941767012,0.0798417469466,0.999999956735,0.000102677167911,-0.00027054561258,5.28362980707e-05,1793250354390438144
+71,1.183333333,BASELINE,768.811532996,745,721,684.188467004,664.811532996,641,885,787,818,653,632,656,0.400976682125,0.00447893520153,0.0798423263604,0.999999956766,0.000103199602449,-0.000270200786061,5.30083051637e-05,1793250354407105024
+72,1.200000000,BASELINE,768.216708441,745,721,684.783291559,664.216708441,641,885,787,818,653,632,656,0.400975221509,0.00447944522534,0.0798404118841,0.999999955998,0.000102769741617,-0.000273196846194,5.29664440086e-05,1793250354423772160
+73,1.216666667,BASELINE,768.366519008,745.366519008,721,685,664,641,885.733038016,787,818,653,632,656,0.400974730293,0.00447965279413,0.0798397541353,0.999999955726,0.000102937595036,-0.000274145300151,5.28781121287e-05,1793250354440438784
+74,1.233333333,BASELINE,768.94309981,745.94309981,721,685,664,641,886.88619962,787,818,653,632,656,0.400974794666,0.00447968701786,0.0798398166505,0.999999955741,0.000103448014421,-0.000273920216354,5.27631466426e-05,1793250354457105408
+75,1.250000000,BASELINE,769,745.481766411,721,685.518233589,664.518233589,641,886.481766411,787,818,653,632,656,0.400975588671,0.00448008120291,0.079840463512,0.999999956041,0.000103504074686,-0.000272812408105,5.27158126389e-05,1793250354473771776
+76,1.266666667,BASELINE,769,745,721,685.90445032,665,641,886,787,818,653,632,656,0.400976458806,0.00448018172089,0.0798411828323,0.999999956402,0.000103145325976,-0.000271625717393,5.26858534444e-05,1793250354490438144
+77,1.283333333,BASELINE,769,745,721,685.315035686,665,641,886,787,818,653,632,656,0.400977309519,0.00447856066025,0.0798419459744,0.999999956927,0.000100899697326,-0.00027053086185,5.2707424832e-05,1793250354507104768
+78,1.300000000,BASELINE,768.730349136,745,721.269650864,685,664.730349136,641,886,787,818,653,632,656,0.400977048074,0.00447868455553,0.07984142524,0.999999956764,0.000100818731665,-0.000271187000806,5.25878379286e-05,1793250354523771392
+79,1.316666667,BASELINE,768.151091304,745,721.848908696,685,664.151091304,641,886,787,818,653,632,656,0.400975509672,0.00448081196949,0.0798394303881,0.999999955807,0.000103223182798,-0.000273853591757,5.23061762953e-05,1793250354540438016
+80,1.333333333,BASELINE,768.425498267,745,721.574501733,685,664.425498267,641,885.574501733,787,818,653,632,656,0.400974404554,0.00447978283,0.0798387786437,0.999999955655,0.000101434402031,-0.000275021452987,5.25722834855e-05,1793250354557104896
+81,1.350000000,BASELINE,769,745,721,685,664.998858428,641,885,787,818,653,632,656,0.400973453779,0.00447764279064,0.0798386020663,0.999999955782,9.81723018444e-05,-0.00027565698826,5.30302847158e-05,1793250354573772032
+82,1.366666667,BASELINE,769,745,721,685,664.425589954,641,885,787,818,653,632,656,0.400973227678,0.00447699833646,0.0798390326497,0.999999956102,9.81114734105e-05,-0.000274561160101,5.27853730513e-05,1793250354590438656
+83,1.383333333,BASELINE,768.847597276,745,721,685.152402724,664.152402724,641,885.152402724,787.152402724,818,653,632,656,0.400973408052,0.00447691239009,0.079839532972,0.999999956387,9.82265779833e-05,-0.000273515600526,5.26071168731e-05,1793250354607105536
+84,1.400000000,BASELINE,768.255989927,745,721,685.744010073,664.744010073,641,885.744010073,787.744010073,818,653,632,656,0.40097475983,0.0044784359897,0.0798402342723,0.999999956571,9.88486983509e-05,-0.000272614908158,5.26209529919e-05,1793250354623772160
+85,1.416666667,BASELINE,768,745,721,686,665,641,886,787.671614399,818,653,632,656,0.400975478324,0.00447890926612,0.0798407484943,0.999999956636,9.92701689283e-05,-0.000272207912691,5.26975147934e-05,1793250354640438784
+86,1.433333333,BASELINE,768,745,721,686,665,641,886,787.092754929,818,653,632,656,0.400975713786,0.00447858141561,0.0798411200236,0.999999956611,9.95385952149e-05,-0.000272177481208,5.28219201787e-05,1793250354657104896
+87,1.450000000,BASELINE,768.483041804,745,721,686,665,641,886,787,818,653,632,656,0.40097361017,0.00447833597241,0.0798394219169,0.999999955813,0.000100421075188,-0.000274778831672,5.27790660088e-05,1793250354673771520
+88,1.466666667,BASELINE,768.941815353,745,721,685.941815353,664.941815353,641,886,787,818,653,631.941815353,656,0.400971689565,0.00447830254955,0.0798377847407,0.999999955087,0.000101393420395,-0.000277073733483,5.26913117925e-05,1793250354690438400
+89,1.483333333,BASELINE,768.367289057,745,721,685.367289057,664.367289057,641,886,787,818,653,631.367289057,656,0.400975353808,0.00448001109457,0.0798401928046,0.999999956363,0.000102123464596,-0.000272192733174,5.24883280212e-05,1793250354707106048
+90,1.500000000,BASELINE,768,745,721,685,664,641,886,787,818,653,631,656,0.400977450298,0.00448033047172,0.0798416017898,0.999999957181,0.000101223199175,-0.0002695226762,5.24310668231e-05,1793250354723772928
+91,1.516666667,BASELINE,768,745,721,685,664,641,886,787,818,653,631,656,0.400976768241,0.00447818781012,0.0798412400957,0.99999995721,9.74335167701e-05,-0.000270771100623,5.26320714778e-05,1793250354740439296
+92,1.533333333,BASELINE,768.387438941,745,721,685.387438941,664.387438941,641,886,787,818,653,631.387438941,656,0.400975436773,0.00447914176779,0.0798403917523,0.99999995655,9.87720002351e-05,-0.000272745886535,5.2484435115e-05,1793250354757105408
+93,1.550000000,BASELINE,768.966655806,745,721,685.966655806,664.966655806,641,886,787,818,653,631.966655806,656,0.400973783854,0.00448162851701,0.0798393025229,0.999999955536,0.000102648867864,-0.000275080213335,5.21642253821e-05,1793250354773771264
+94,1.566666667,BASELINE,768.457097281,745,721,686,664.457097281,641,886,787,818,652.457097281,632,656,0.400974582331,0.00448015124079,0.0798399744128,0.99999995622,0.000100791789486,-0.000273247927225,5.23113032792e-05,1793250354790438400
+95,1.583333333,BASELINE,768.241800705,745,721,686,664.120900352,641,886,787,818,652,631.879099648,656,0.400975315163,0.00447886223018,0.0798405967333,0.999999956824,9.90828305362e-05,-0.000271625179588,5.24829507023e-05,1793250354807105024
+96,1.600000000,BASELINE,769.412643557,745,721,686,664.706321779,641,886,787,818,652,631.293678221,656,0.400975220445,0.00447922691277,0.0798406152706,0.999999956752,9.92887100459e-05,-0.000271785405867,5.26393279526e-05,1793250354823771392
+97,1.616666667,BASELINE,769.710340537,745,721,685.710340537,664.710340537,641,885.710340537,787,818,652,631,656,0.400975562473,0.00447978849872,0.0798407912761,0.999999956576,0.000100801270138,-0.000271854304492,5.27471637996e-05,1793250354840438272
+98,1.633333333,BASELINE,769.12910045,745,721,685.12910045,664.12910045,641,885.12910045,787,818,652,631,656,0.400976344146,0.00448054829397,0.0798411257942,0.99999995629,0.000103629177334,-0.000271831269722,5.28061362834e-05,1793250354857105408
+99,1.650000000,BASELINE,769,745,721,685,664.445787605,641,885.445787605,787,818,652.445787605,631.445787605,656,0.400975497481,0.00448035390062,0.0798406964008,0.999999956147,0.000102400322261,-0.000272868276904,5.25707834774e-05,1793250354873771776
+100,1.666666667,BASELINE,769,745,721,685,664.980992725,641,885.980992725,787,818,653,632,656,0.40097430497,0.00447991645161,0.0798401065858,0.999999956061,0.000100155517357,-0.000274070774448,5.22695593492e-05,1793250354890438400
+101,1.683333333,BASELINE,769,745,721,685,664.403502756,641,885.403502756,787,818,653,632,656,0.400976611843,0.00448034273111,0.0798412121366,0.999999956624,0.000102094397787,-0.000271242400212,5.25021589457e-05,1793250354907105024
+102,1.700000000,BASELINE,768.821801283,745,721,685.178198717,664.178198717,641,885,787,818.178198717,652.821801283,632,656,0.400977804834,0.00448021957757,0.0798419365938,0.999999957033,0.000102677498425,-0.000269490252111,5.25915829009e-05,1793250354923771648
+103,1.716666667,BASELINE,768.230332773,745,721,685.769667227,664.769667227,641,885,787,818.769667227,652.230332773,632,656,0.400976414564,0.00447882220559,0.0798417772371,0.999999957105,0.000100116340288,-0.000270234035683,5.23489608458e-05,1793250354940438272
+104,1.733333333,BASELINE,768,745,721,686,665,641.353436593,885.353436593,787,818.646563407,652.353436593,632,656,0.400976006266,0.00447896955877,0.0798415676955,0.99999995692,9.99368669658e-05,-0.000270993142444,5.23002638977e-05,1793250354957104896
+105,1.750000000,BASELINE,768,745,721,686,665,641.932295495,885.932295495,787,818.067704505,652.932295495,632,656,0.40097622427,0.00448010213949,0.079841326146,0.999999956573,0.000101276434995,-0.000271762022428,5.23752526058e-05,1793250354973771520
+106,1.766666667,BASELINE,768,745,721,686,665,641.512915196,885.512915196,787,818,653,632,656,0.400975105149,0.00447976674943,0.0798403181688,0.999999956257,0.000101222839197,-0.000272925674199,5.24587609246e-05,1793250354990438144
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,721,686,664,641,886,787,818,653,632,656,0.400974917947,0.00448140285229,0.0798397913308,0.999999956011,0.000103046479336,-0.000273131475326,5.25214939767e-05,1793250355033161472
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.420955895,721,686,664.579044105,641,886,787,818,653,631.420955895,656,0.400976964757,0.00447945790427,0.0798415019767,0.999999957034,9.92345023256e-05,-0.000270756875664,5.26785333059e-05,1793250355049828096
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,721,685.842748507,665,641,886,787,818,653,631.157251493,656,0.400978374754,0.00447840435377,0.0798427692313,0.999999957714,9.71217338356e-05,-0.000269002004096,5.27029087707e-05,1793250355066494720
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,721,685.266768995,665,641,886,787,818,653,631.733231005,656,0.400978089053,0.00447972440903,0.0798428558274,0.999999957522,9.95336033989e-05,-0.000268897339039,5.23740279928e-05,1793250355083161600
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.310014636,745,721,685,664.689985364,641,886,787,818.310014636,653,632,656,0.400977144774,0.00448017397474,0.0798421991563,0.999999957265,0.000100328107111,-0.000269564307954,5.23292808344e-05,1793250355099827968
+112,1.866666667,POSE1_TO_POSE2_PRESS,768.887491979,745,721,685,664.112508021,641,886,787,818.887491979,653,632,656,0.400975632312,0.00447987253229,0.0798409012372,0.999999956955,9.97272409129e-05,-0.000270896998063,5.25296677589e-05,1793250355116494336
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.527676173,745,721,685,664.472323827,641,886,787,818.527676173,653,632,656,0.40097485149,0.00447932704753,0.0798402304409,0.999999956512,0.000100133213184,-0.000272344447236,5.27060933974e-05,1793250355133160960
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,721,685,664.941739722,641,886,787,818,653,632,656,0.400974553122,0.00447877239209,0.0798399012434,0.999999956111,0.000100760759469,-0.000273555025082,5.28401333306e-05,1793250355149827584
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,721,685,664.361846454,641,886,787,818,653,632,656,0.400976989341,0.00447866433616,0.0798412719075,0.999999956395,0.000101190886855,-0.000272396155815,5.26465844528e-05,1793250355166494720
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,721,685,664.216899438,641,886,787,818,653,632,656,0.400986043583,0.00447839711744,0.0798453435316,0.999999958234,0.000100893299313,-0.000265706065123,5.24593045883e-05,1793250355183161344
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,721,685,664.793741216,641,886,787,818,653,632,656,0.401006080365,0.00447786576973,0.0798538973703,0.999999962485,9.93880764263e-05,-0.000249836970611,5.22824280956e-05,1793250355199827200
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.369518513,745.369518513,721,685.369518513,664.630481487,641,885.630481487,787,818.369518513,653,632,656,0.401043847333,0.00447827505601,0.0798668297201,0.999999968553,9.83465658851e-05,-0.000224860254841,5.15786788053e-05,1793250355216493568
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.944703395,745.944703395,721,685.944703395,664.055296605,641,885.055296605,787,818.944703395,653,632,656,0.401091482558,0.00447920787968,0.0798821990594,0.999999974985,9.75631478502e-05,-0.000194814423626,5.05816829521e-05,1793250355233160192
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.464636883,745.464636883,721,686,664,641,885.535363117,787,818.464636883,653,632,656,0.401160616189,0.00448121811532,0.0798976964114,0.999999980293,9.84519316492e-05,-0.000165283834574,4.90136108288e-05,1793250355249826816
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.124054622,745,721,686,664.124054622,641,886,787.124054622,818,653,632,656,0.401233669112,0.00448267999271,0.0799114506913,0.999999984207,9.85007143753e-05,-0.000140165967654,4.73086409865e-05,1793250355266493440
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.699592937,745,721,686,664.699592937,641,886,787.699592937,818,653,632,656,0.401312663977,0.00448172911798,0.0799188116952,0.999999985906,9.48451014984e-05,-0.000130908281293,4.53265067936e-05,1793250355283160320
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,685.724740075,665,641,886,788,818,653,632,656,0.401400548045,0.00448239471534,0.0799235011266,0.999999987036,9.32015127474e-05,-0.000124142818939,4.27820148786e-05,1793250355299826944
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,685.148932626,665,641,886,788,818,653,632,656,0.401498137947,0.00448482528704,0.0799252735531,0.999999987608,9.37547891246e-05,-0.000120098536967,3.96235026436e-05,1793250355316494080
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,685.436755509,664.563244491,641,886,787.563244491,818,653,632,656,0.401616810667,0.00448684126541,0.0799282779924,0.999999988452,9.23393754056e-05,-0.000115186967872,3.60829451848e-05,1793250355333160704
+126,2.100000000,POSE1_TO_POSE2_PRESS,769,745,721,686,664.025440888,641,886,787,818.025440888,653,632,656,0.401744380176,0.00448874913557,0.0799319532275,0.999999989416,9.02352335609e-05,-0.000109447714072,3.23440422848e-05,1793250355349827328
+127,2.116666667,POSE1_TO_POSE2_PRESS,769,745,721,686,664.604336227,641,886,787,818.604336227,653,632,656,0.401905477593,0.00449145190627,0.0799408703902,0.999999991492,8.80903969339e-05,-9.22852361919e-05,2.71899311762e-05,1793250355366493696
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641,886,787.182848407,818.817151593,653,632,656,0.402074843788,0.00449412522397,0.0799489995529,0.999999993124,8.54823284135e-05,-7.72544982706e-05,2.18407979864e-05,1793250355383160064
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641,886,787.76053313,818.23946687,653,632,656,0.402262065265,0.00449673494161,0.0799554271351,0.999999994286,8.1873973815e-05,-6.68269657179e-05,1.60705417636e-05,1793250355399826688
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641.336404353,886,787.663595647,818,653,632,656,0.40246014513,0.00449926904093,0.0799571451687,0.999999994855,7.71910308215e-05,-6.50901324273e-05,9.70346947164e-06,1793250355416493568
+131,2.183333333,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641.910991629,886,787.089008371,818,653,632,656,0.402665913031,0.00450174960082,0.0799555287214,0.999999995006,7.17472512711e-05,-6.95065363926e-05,2.91383548045e-06,1793250355433160448
+132,2.200000000,POSE1_TO_POSE2_PRESS,769,745.497194065,721.497194065,686,665,641.502805935,886.497194065,787,818,653,632,656,0.402896623225,0.00450453676085,0.0799478775199,0.999999994571,6.16080052251e-05,-8.38703520031e-05,-5.24177988514e-06,1793250355449827072
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,746,721.91565976,686,665,641,886.91565976,787,818,652.91565976,631.91565976,656,0.403139899687,0.00450775262929,0.0799405622835,0.999999993858,5.15257519036e-05,-9.71666815966e-05,-1.37130544992e-05,1793250355466493184
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,721.335482091,686,665,641,886.335482091,787,818,652.335482091,631.335482091,656,0.403430174581,0.00451315847562,0.0799417255069,0.99999999428,4.68385987764e-05,-9.34674797912e-05,-2.25680553385e-05,1793250355483159808
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,745.756764083,721,686.243235917,665,641,886,787,818,652.243235917,631.243235917,656,0.403741803698,0.00451919418183,0.0799456545235,0.999999993611,6.79251835386e-05,-8.72338522642e-05,-2.35459503674e-05,1793250355499826176
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,745.180047332,721,686.819952668,665,641,886,787,818,652.819952668,631.819952668,656,0.40408270982,0.00452609343697,0.0799533754924,0.99999998917,0.000124348028556,-7.75254813211e-05,-1.3724190487e-05,1793250355516492800
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,745,721,686.605171385,664.605171385,641,886,787,818,653,631.605171385,656,0.404444364598,0.00453510481356,0.079955374579,0.999999987989,0.000136044649134,-7.25852076837e-05,-1.5663972793e-05,1793250355533159680
+138,2.300000000,POSE1_TO_POSE2_PRESS,769,745,721,686.031130991,664.031130991,641,886,787,818,653,631.031130991,656,0.404815437131,0.00454507487692,0.0799547765164,0.99999998918,0.000127440140231,-6.98091625287e-05,-2.29422917097e-05,1793250355549826304
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.440218739,745,721,686,664.559781261,641,886,787,818,653,631.559781261,656,0.405243307879,0.00454896063178,0.0799522363184,0.999999994574,7.39911224784e-05,-6.77445453695e-05,-2.80849796373e-05,1793250355566492672
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.147514621,745.147514621,721,686.295029242,665,641.147514621,886,787,818.147514621,653,632,656,0.405678728512,0.00455391731383,0.0799483827973,0.999999996099,4.30422097833e-05,-7.04553229476e-05,-3.13935630011e-05,1793250355583159552
+141,2.350000000,POSE1_TO_POSE2_PRESS,768.723212494,745.723212494,721,687.446424987,665,641.723212494,886,787,818.723212494,653,632,656,0.406126610189,0.00456299519968,0.0799410404107,0.99999999218,8.4867191076e-05,-8.69089881165e-05,-2.97338392286e-05,1793250355599826176
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,745.700708803,721,688,665.299291197,641.700708803,886.299291197,787,818.700708803,653,632,656,0.406598550847,0.00457372770532,0.0799348795507,0.999999988185,0.000113642599076,-9.88917788994e-05,-3.05785214523e-05,1793250355616492800
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,745.124277388,721,688,665.875722612,641.124277388,886.875722612,787,818.124277388,653,632,656,0.407092769896,0.00458599237097,0.0799298127698,0.999999985241,0.00013033425672,-0.000106734593249,-3.37422547631e-05,1793250355633159424
+144,2.400000000,POSE1_TO_POSE2_PRESS,769,745.461624328,721,688,665.538375672,641.461624328,887,787,818,653,632,656,0.407601858313,0.00459341631249,0.0799239663,0.999999983501,0.000131622534214,-0.000120369192452,-3.44289055347e-05,1793250355649826304
+145,2.416666667,POSE1_TO_POSE2_PRESS,769,745.950672994,721,688.049327006,665,642,887,787,818,653,632,656,0.408121912634,0.00460007319667,0.0799178324667,0.999999981728,0.00013083320813,-0.000135031689279,-3.45490556718e-05,1793250355666492928
+146,2.433333333,POSE1_TO_POSE2_PRESS,769,745.371583339,721,688.628416661,665,642,887,787,818,653,632,656,0.408715846078,0.00461278139037,0.0799109139682,0.999999977305,0.000153200119599,-0.000143636826257,-3.58972078981e-05,1793250355683159552
+147,2.450000000,POSE1_TO_POSE2_PRESS,769,745,721,689,665,642,887,787,818.206401003,653,632,656,0.409338139381,0.00462366395608,0.0799183820205,0.999999976726,0.000167931448522,-0.000130185801698,-3.73870750017e-05,1793250355699826176
+148,2.466666667,POSE1_TO_POSE2_PRESS,769,745,721,689,665,642,887,787,818.782406021,653,632,656,0.410011216885,0.00463127735364,0.0799516121908,0.999999981973,0.000168989674002,-7.72386224112e-05,-3.91307120082e-05,1793250355716493056
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.642512985,745.357487015,721,689.357487015,665,642,887.357487015,787,818.642512985,653,632,656,0.410697814504,0.00463436560082,0.0799797991867,0.999999984281,0.000169819936628,-3.15739896348e-05,-4.00228164903e-05,1793250355733159680
+150,2.500000000,POSE1_TO_POSE2_PRESS,768.067992992,745.932007008,721,689.932007008,665,642,887.932007008,787,818.067992992,653,632,656,0.411392620258,0.00463470659589,0.0800049244333,0.9999999846,0.000170511801268,9.66935402139e-06,-4.0397949286e-05,1793250355749826304
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,745.479853217,721.520146783,690,665,642,888.520146783,787,818,653,632,656,0.412054375515,0.00462036067051,0.0799840895735,0.999999985747,0.000161638898533,-2.6743346321e-05,-4.07765298682e-05,1793250355766492672
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745.108150088,721.891849912,690,665,642,889.108150088,787,818,653,632,656,0.41272725059,0.00460287587357,0.0799559115599,0.999999985914,0.000145907332397,-7.19664998728e-05,-4.12847247329e-05,1793250355783159552
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+154,2.566666667,POSE1_TO_POSE2_PRESS,768.264917517,746,721.264917517,690.264917517,665.264917517,642,889.470164967,787.264917517,818.264917517,653,632,656,0.414231199769,0.00456961457572,0.0799127430696,0.999999988072,9.18556312637e-05,-0.000116448552533,-4.31126778039e-05,1793250355816492800
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.839768671,746,721.839768671,690.839768671,665.839768671,642,888.320462658,787.839768671,818.839768671,653,632,656,0.415020945349,0.00457282713765,0.0799302641626,0.999999989547,0.000108244790885,-8.54175616173e-05,-4.35022023723e-05,1793250355833159424
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.585088965,746,721.585088965,691,665.585088965,641.585088965,888,787.585088965,819,653,632,656,0.415810415018,0.00458463736566,0.079940469483,0.999999990306,0.000106979563799,-7.81025946593e-05,-4.29398761916e-05,1793250355849826304
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.009834097,746,721.009834097,691,665.009834097,641.009834097,888,787.009834097,819,653,632,656,0.416599778012,0.00459977019186,0.0799478475963,0.999999991032,9.8891735738e-05,-7.99527707018e-05,-4.20097039184e-05,1793250355866492928
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.583822125,746,721,691,665,641.583822125,888,787.583822125,819,653,632,656,0.417423152927,0.00460470929803,0.079943841493,0.999999988197,0.000125950136927,-7.60577191162e-05,-4.42555714317e-05,1793250355883159552
+159,2.650000000,POSE1_TO_POSE2_PRESS,769,746,721,691.17221502,665.17221502,642,888.17221502,788,819.17221502,653,632,656,0.41828018506,0.00460667534444,0.0799505790578,0.99999998758,0.000140570355556,-5.38552070597e-05,-4.66839586227e-05,1793250355899826176
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,746,721,691.747538713,665.747538713,642,888.747538713,788,819.747538713,653,632,656,0.419214614901,0.00460209726223,0.0799829281022,0.999999990951,0.000124645313861,1.09662117103e-05,-4.94102743238e-05,1793250355916492800
+161,2.683333333,POSE1_TO_POSE2_PRESS,768.676606719,746,721,692,666,642,888.676606719,787.676606719,819.676606719,653,632,656.323393281,0.420101920548,0.00459692569948,0.0799871447516,0.999999991699,0.000116743312186,2.16819917637e-05,-5.00246737207e-05,1793250355933160192
+162,2.700000000,POSE1_TO_POSE2_PRESS,768.100337062,746,721,692,666,642,888.100337062,787.100337062,819.100337062,653,632,656.899662938,0.420952377533,0.00459129006669,0.0799693633603,0.999999992125,0.00011511490277,-9.90996784315e-06,-4.89876666613e-05,1793250355949827840
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,721.485869366,692.485869366,666,642,888.485869366,787,819.485869366,653,632,656.514130634,0.421823259728,0.00459338153717,0.0799664015326,0.999999992264,0.000112319350525,-1.73627240177e-05,-5.05386539147e-05,1793250355966493952
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.073022546,746,721.926977454,692.926977454,666,642,889,787,819.926977454,653,631.926977454,656,0.422706816112,0.00459779966513,0.0799699440749,0.999999992288,0.000111702937201,-1.48925219469e-05,-5.22066554815e-05,1793250355983160064
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.652216846,746,721.347783154,692.347783154,666,642,889,787,819.347783154,653,631.347783154,656,0.423648377404,0.00460705345604,0.0799969163814,0.999999990303,0.00012789731807,2.10847995653e-05,-5.09037778476e-05,1793250355999826944
+166,2.766666667,POSE1_TO_POSE2_PRESS,769,746,721,692,666,642.229344805,888.770655195,787,819,653,631.229344805,656,0.424560454844,0.00461436449613,0.0799930980066,0.999999988894,0.000140566961819,2.50534851056e-06,-4.94594399875e-05,1793250356016493568
+167,2.783333333,POSE1_TO_POSE2_PRESS,769,746,721,692,666,642.803367386,888.196632614,787,819,653,631.803367386,656,0.425428221725,0.00461875581576,0.0799430049291,0.999999983106,0.000147939349497,-9.80663927745e-05,-4.7802503892e-05,1793250356033160704
+168,2.800000000,POSE1_TO_POSE2_PRESS,769,746,721,692.379356056,666,642.620643944,888.379356056,787,819,653,632,656.379356056,0.426350599949,0.00461696419696,0.0799180466193,0.999999980711,0.000143692749708,-0.000124182253604,-5.00956389773e-05,1793250356049827584
+169,2.816666667,POSE1_TO_POSE2_PRESS,769,746,721,692.956369089,666,642.043630911,888.956369089,787,819,653,632,656.956369089,0.427301432424,0.00461195106372,0.0799061843527,0.999999983404,0.000133392275551,-0.000111504147492,-5.44468912573e-05,1793250356066494464
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.454910792,746,721,693,666,642,889,787,819,653,631.454910792,657,0.428202198008,0.00460532018162,0.079910546648,0.99999998429,0.000124506966987,-0.00011454262368,-5.28934346954e-05,1793250356083160832
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+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,721,693,666,642.71241566,889,787,819,653,631,656.28758434,0.430087432204,0.00460729183442,0.0799546008703,0.999999988859,0.00012605140163,-6.09018610845e-05,-5.18029281692e-05,1793250356116493568
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+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,721,693,666,642.136226021,889,787.863773979,819.863773979,653,631,656,0.432046187882,0.00461850593453,0.0800320932875,0.999999987988,0.000136383362262,5.34029312508e-05,-5.07150183467e-05,1793250356149827072
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+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746.01383552,721,694,666,642.01383552,889.98616448,787.98616448,820,653,632,656.01383552,0.433739221652,0.00462476900091,0.0799374319047,0.999999983032,0.000143691444591,-0.000103094806915,-5.15768673538e-05,1793250356183161088
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+178,2.966666667,POSE1_TO_POSE2_PRESS,769,746.804681402,721,694.195318598,666.195318598,642.804681402,889,787,820,653.195318598,632,656.804681402,0.435503314648,0.0046255872367,0.0798969947823,0.999999980204,0.000131740875588,-0.00013780902159,-5.69587163053e-05,1793250356216494080
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+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,721,694.098462238,666,642,890.098462238,787.901537762,821,654,632,657,0.439839206866,0.00462031850872,0.0799735873895,0.999999990244,0.000120187355799,-4.44952054108e-05,-5.55672479037e-05,1793250356299826944
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.687945732,721,695,663.375891465,640.687945732,890,787,821.312054268,653.312054268,632,656.687945732,0.446128599819,0.00469195547116,0.0797923487463,0.999999924165,0.000212542655006,-0.000321805499156,-5.41876848075e-05,1793250356449827072
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+207,3.450000000,POSE1_TO_POSE2_PRESS,769,746,720.975550574,695,657.024449426,638,890.024449426,786.975550574,823,653.024449426,631.024449426,656.024449426,0.452579962343,0.00473585562089,0.0795629382296,0.999999740466,0.000265698687515,-0.000665796669777,-7.20214456822e-05,1793250356699826688
+208,3.466666667,POSE1_TO_POSE2_PRESS,769,746,720.396677975,695,657.603322025,638,890.603322025,786.396677975,823,653.603322025,631.603322025,656.603322025,0.452832167034,0.00474322568409,0.0795596975846,0.999999749106,0.000225326326953,-0.000667419535105,-7.46141947811e-05,1793250356716493824
+209,3.483333333,POSE1_TO_POSE2_PRESS,769,746.182039582,720.182039582,695,657.635920835,638,890.817960418,786,823,653.817960418,631.817960418,657,0.453072127869,0.00474900890565,0.0795560131738,0.999999751505,0.000201209997533,-0.00067131881411,-7.63910232464e-05,1793250356733160960
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,746.760419505,720.760419505,695,656.479160989,638,890.239580495,786,823,653.239580495,631.239580495,657,0.453285431097,0.00475133722189,0.0795513625876,0.999999743188,0.000212486640934,-0.000680174349709,-7.6391412325e-05,1793250356749827584
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,747,721,695,656,638.33497513,890.33497513,786,823,653.33497513,631,657,0.453474293864,0.00475155345643,0.0795461536227,0.99999973414,0.000227955164029,-0.000688781415164,-7.30490486167e-05,1793250356766494464
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,747,721,695,656,638.906826478,890.906826478,786,823,653.906826478,631,657,0.453645873687,0.00475027614176,0.0795405498023,0.999999724326,0.000246387957861,-0.000697212776764,-6.73428716816e-05,1793250356783161344
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,746.506507339,721,695,656,638.506507339,891,786,823,654,631,657,0.453792932934,0.00475539929587,0.0795315644188,0.999999710984,0.000260033767553,-0.000711279253402,-6.70580649099e-05,1793250356799827968
+214,3.566666667,POSE1_TO_POSE2_PRESS,769.081804828,746,721,695,655.918195172,638,891,786,823,653.918195172,631,656.918195172,0.453930895989,0.0047604494439,0.0795219166251,0.99999969738,0.000270339992312,-0.00072633077983,-6.78154945215e-05,1793250356816494080
+215,3.583333333,POSE1_TO_POSE2_PRESS,769.662568116,746,721,695,655.337431884,638,891,786,823,653.337431884,631,656.337431884,0.454042489552,0.00475745547811,0.079512243229,0.999999687968,0.000265960085046,-0.000740700329071,-6.84935065624e-05,1793250356833160704
+216,3.600000000,POSE1_TO_POSE2_PRESS,769.759279037,746.240720963,720.759279037,695,655,638,891,786,823.240720963,653.240720963,631.240720963,656,0.4541458406,0.00475610547861,0.0795057463041,0.999999680873,0.000264233904881,-0.000750771343729,-6.91146857048e-05,1793250356849827072
+217,3.616666667,POSE1_TO_POSE2_PRESS,769.184746165,746.815253835,720.184746165,695,655,638,891,786,823.815253835,653.815253835,631.815253835,656,0.454237761603,0.00475703519567,0.079503654247,0.999999677223,0.000266187694138,-0.000754881505728,-6.9657053663e-05,1793250356866493696
+218,3.633333333,POSE1_TO_POSE2_PRESS,769,746.600682086,720,695,654.600682086,637.600682086,890.600682086,785.600682086,823.600682086,654,632,656,0.45431958913,0.00476184886782,0.0795050514991,0.999999676475,0.00027188050339,-0.000753771756443,-7.04215168643e-05,1793250356883160576
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,746.012100542,720,695,654.012100542,637.012100542,890.012100542,785.012100542,823.012100542,654,632,656,0.454396632676,0.00476850340761,0.0795081025696,0.999999677051,0.000279345485753,-0.000750187939789,-7.12912459272e-05,1793250356899827456
+220,3.666666667,POSE1_TO_POSE2_PRESS,769,746,720.56681702,695,654,637.56681702,890.56681702,785,823,653.43318298,632,656,0.45445843977,0.00476426024679,0.0795124498721,0.999999683734,0.000273264159861,-0.000743540548645,-7.0757534736e-05,1793250356916494080
+221,3.683333333,POSE1_TO_POSE2_PRESS,769,746,720.855383053,695,654,638,891,785.144616947,823,653.144616947,632,656,0.454513314518,0.00476104018689,0.0795149448094,0.999999687789,0.000268896095124,-0.000739706372778,-7.03603355071e-05,1793250356933160960
+222,3.700000000,POSE1_TO_POSE2_PRESS,769,746,720.280306136,695,654,638,891,785.719693864,823,653.719693864,632,656,0.454548506718,0.00476154631805,0.0795118450962,0.999999683846,0.000270474002259,-0.000744437290679,-7.04571568569e-05,1793250356949827072
+223,3.716666667,POSE1_TO_POSE2_PRESS,769,746,720,695,654,638,891,786,823,654,632,656.292945489,0.454578570561,0.00476219994556,0.0795101721074,0.999999681966,0.00027156824061,-0.000746554026797,-7.05324984228e-05,1793250356966493440
+224,3.733333333,POSE1_TO_POSE2_PRESS,769,746,720,695,654,638,891,786,823,654,632,656.864461459,0.454603757703,0.00476299383176,0.0795098558326,0.999999682066,0.000272202544283,-0.000746184861155,-7.0587414243e-05,1793250356983159808
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,746,720.452108319,695,654,638,891,786,823.452108319,653.547891681,632,656.547891681,0.454619587328,0.00476338998145,0.0795075589989,0.999999679278,0.000272842971607,-0.00074970863042,-7.02741237954e-05,1793250356999826688
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,746,720.956179835,695,654,637.956179835,891,786,823.956179835,653.043820165,631.956179835,656.043820165,0.454632426842,0.00476363796873,0.0795049601918,0.999999675968,0.000273409922727,-0.000753944266965,-6.98442121102e-05,1793250357016493312
+227,3.783333333,POSE1_TO_POSE2_PRESS,769,746,720.376091763,695,654,637.376091763,891,786,823.376091763,653.623908237,631.376091763,656.623908237,0.454644275022,0.00476358597558,0.0795062010447,0.999999677501,0.000273054380212,-0.000752080707878,-6.93879679212e-05,1793250357033159936
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.201402238,746,720.201402238,695,654,637,891,786,823,654,631.201402238,657,0.454653239578,0.00476349246728,0.0795065538148,0.999999678096,0.000272136544023,-0.000751652599937,-6.90499552613e-05,1793250357049826816
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.774113726,746,720.774113726,695,654,637,891,786,823,654,631.774113726,657,0.454656887824,0.0047633224208,0.0795052692972,0.999999676964,0.000270182051838,-0.000753870918942,-6.89299166726e-05,1793250357066493440
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+231,3.850000000,POSE1_TO_POSE2_PRESS,770,746,720.074230733,695,654,637,891,786,823,654,632,657,0.454659197151,0.00476553806052,0.0795024066147,0.999999673379,0.000270009732581,-0.00075859183001,-6.98174830616e-05,1793250357099826944
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746,720,695,654,637.518148697,891,786,823,654,632,656.481851303,0.454660343528,0.00476381397095,0.0795024989824,0.999999673376,0.000269369866297,-0.000758890502151,-6.9086055772e-05,1793250357116493312
+233,3.883333333,POSE1_TO_POSE2_PRESS,769.891015896,746.108984104,720,695,654,638,891,786,823.108984104,653.891015896,632,656.108984104,0.454661910789,0.00476193542601,0.0795030965182,0.999999674115,0.000268176236279,-0.000758411399245,-6.82951479241e-05,1793250357133159936
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.316731696,746.683268304,720,695,654,638,891,786,823.683268304,653.316731696,632,656.683268304,0.454664893771,0.00476138203318,0.0795048668264,0.999999676783,0.000265257206619,-0.000755934374035,-6.80790688435e-05,1793250357149826560
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,746.742222926,720,695,654,638,890.742222926,786,823.742222926,653.257777074,632,657,0.454665649734,0.00476116077454,0.0795047138179,0.999999677243,0.000263765912159,-0.000755862492247,-6.79270929843e-05,1793250357166492928
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,746.167437907,720,695,654,638,890.167437907,786,823.167437907,653.832562093,632,657,0.454663666963,0.00476134796634,0.0795021955618,0.999999674992,0.00026403041116,-0.000758748396725,-6.78539496714e-05,1793250357183159552
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.418523025,746,720.418523025,695,653.581476975,638,890,786,823.418523025,654,632,656.581476975,0.454663536838,0.00476234505637,0.0795018650795,0.999999674178,0.000265613065333,-0.000759250996847,-6.80600685259e-05,1793250357199826688
+238,3.966666667,POSE1_TO_POSE2_PRESS,769.991101396,746,720.991101396,695,653,637.991101396,890.008898604,786,824,654,631.991101396,656,0.454664157686,0.00476361615128,0.0795024159511,0.999999673958,0.000267652590308,-0.000758796798374,-6.83692643473e-05,1793250357216493568
+239,3.983333333,POSE1_TO_POSE2_PRESS,769.412199346,746,720.412199346,695,653,637.412199346,890.587800654,786,824,654,631.412199346,656,0.454664102958,0.0047611144182,0.0795018190131,0.999999674126,0.00026425061869,-0.000759806022669,-6.79282261758e-05,1793250357233160192
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637,891,785.833948959,823.833948959,653.833948959,631,656.166051041,0.454663862623,0.00475972754966,0.0795010700317,0.999999673691,0.000262379039173,-0.000761052913186,-6.76302770519e-05,1793250357249826816
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637,891,785.257309946,823.257309946,653.257309946,631,656.742690054,0.454663163345,0.00476109736359,0.0794999450986,0.999999671786,0.000264291601082,-0.00076288747171,-6.76861386963e-05,1793250357266493440
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637.318401298,891,785.318401298,823,653.318401298,631,657,0.454663846955,0.00476220535667,0.0795003247944,0.999999671935,0.000265153515049,-0.000762383832945,-6.77782371829e-05,1793250357283159808
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637.893364935,891,785.893364935,823,653.893364935,631,657,0.454665644873,0.0047631023789,0.0795019168945,0.99999967374,0.000265168834718,-0.000759996114572,-6.78995346967e-05,1793250357299826432
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637.520931917,890.520931917,786,823.479068083,654,631,657,0.454665917686,0.00476323794163,0.0795022105851,0.999999673496,0.000265719284536,-0.000760146832671,-6.76660722518e-05,1793250357316493056
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,746.06609793,720.06609793,695,653.06609793,637,890.06609793,785.93390207,823.93390207,653.93390207,631.06609793,657,0.454665869316,0.00476296715943,0.0795021156474,0.999999672877,0.000266019890572,-0.00076087905649,-6.73913147482e-05,1793250357333159680
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,746.644458144,720.644458144,695,653.644458144,637,890.644458144,785.355541856,823.355541856,653.355541856,631.644458144,657,0.454666023004,0.00476089087863,0.0795013000347,0.99999967298,0.000263439887106,-0.000761638574753,-6.74225390637e-05,1793250357349826560
+247,4.116666667,HOLD_POSE2,769,746,720,695,653,637,891,785,823,653,632,657,0.454668231819,0.00475842701238,0.0795028055094,0.999999675783,0.000259967258124,-0.000759211245191,-6.67027794034e-05,1793250357388960512
+248,4.133333333,HOLD_POSE2,769.57366609,746,720.57366609,695,653,637,891,785.57366609,823.57366609,653.57366609,632,656.42633391,0.454666982319,0.00475908877392,0.0795015738709,0.999999675155,0.00025881888476,-0.000760382829837,-6.72307616799e-05,1793250357405627136
+249,4.150000000,HOLD_POSE2,769.84739866,746,720.84739866,695,653,637.15260134,891,786,823.84739866,654,632,656.15260134,0.454666530058,0.00475984729088,0.0795009358696,0.999999674547,0.000259183131802,-0.000761032114758,-6.75294888288e-05,1793250357422293504
+250,4.166666667,HOLD_POSE2,769.253215949,746,720.253215949,695,653,637.746784051,891,786,823.253215949,654,632,656.746784051,0.454668384761,0.00476088578846,0.0795020156715,0.999999673987,0.00026392443708,-0.000760170025091,-6.71648222307e-05,1793250357438960128
+251,4.183333333,HOLD_POSE2,769,746,720,695,653,638,891,786,823,654,631.668605857,657,0.454667920574,0.00476059739364,0.0795017571215,0.999999673287,0.00026474252739,-0.000760822494138,-6.69754419746e-05,1793250357455626752
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+264,4.400000000,POSE2_TO_POSE3_RETREAT,769.418825222,746,720,695,653,637,891,785.418825222,823,654,631,657,0.454672729429,0.00475753085154,0.079503419698,0.999999677463,0.000258360860685,-0.000757564916229,-6.64740756545e-05,1793250357692827904
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,653,637,891,785.160321763,823,653.839678237,631,657,0.454673743079,0.00475788619542,0.0795039148862,0.999999678608,0.000258747060994,-0.00075590079924,-6.66869416913e-05,1793250357709494784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,653,637,891,785.734237625,823,653.265762375,631,657,0.454672856097,0.00476081642498,0.0795035029075,0.999999676893,0.000261848981602,-0.000757081252965,-6.69133760539e-05,1793250357726161152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769.318316924,746,720,695,653,637,890.681683076,785.681683076,823,653,631,657,0.454672325756,0.0047616095803,0.0795028585489,0.999999675871,0.000262967625837,-0.000758035349417,-6.699758518e-05,1793250357742827776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769.911161491,746,720,695,653,637,890.088838509,785.088838509,823,653,631,657,0.454672102993,0.00476055964789,0.0795020137776,0.999999675453,0.000262375823008,-0.000758794227376,-6.69591342766e-05,1793250357759494400
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769.509903554,746.490096446,720,695.490096446,653.490096446,637,890.490096446,785,823,653.490096446,631.490096446,657,0.454671781717,0.00476033946029,0.079501941042,0.999999675286,0.0002631766136,-0.000758773424286,-6.65496511599e-05,1793250357776160768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,746.933588024,720,695.933588024,653.933588024,637,891.066411976,785.066411976,823,653.933588024,631.933588024,657,0.454671446165,0.00476030786511,0.0795020042199,0.999999675261,0.000263933307507,-0.0007585745409,-6.61914541255e-05,1793250357792827392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,746.358556439,720,695.358556439,653.358556439,637,891.641443561,785.641443561,823,653.358556439,631.358556439,657,0.45467113427,0.00476060051508,0.0795020661018,0.999999675997,0.000262472376889,-0.000758064337361,-6.67269028538e-05,1793250357809494272
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.607627147,746,720,695,653,637,891,785.607627147,823.392372853,653.392372853,632,657,0.454644197407,0.00476101879976,0.0794901818621,0.999999660736,0.000263336027334,-0.000777683222563,-6.62615304878e-05,1793250357859494144
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,769,746,720.87489819,695,653,637,891,785.12510181,823,653.12510181,631.12510181,656.12510181,0.45450557162,0.00475780152117,0.0794383396386,0.999999587031,0.000265274932514,-0.000866857322809,-6.4236623773e-05,1793250357909494272
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,653,637,890.126563244,785.126563244,823,654,632,657,0.454279928054,0.00475799916122,0.0794094593523,0.999999546302,0.000269050565114,-0.000911788066998,-6.04207897516e-05,1793250357959494912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.454678351,746,720,695,653,637,890,785.454678351,823,654,632,656.545321649,0.454183564498,0.00475687856007,0.079407592668,0.999999545224,0.000269312289883,-0.000913035333411,-5.82156457739e-05,1793250357976161792
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,653.341708815,637.341708815,890.658291185,785,822,653,631,657,0.453500355154,0.00475274909234,0.0794090026468,0.999999544988,0.000284623798071,-0.000909593015514,-4.06625966712e-05,1793250358059494400
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,746,720,695,654.246259996,638,891,785.753740004,822.753740004,653.753740004,631,657,0.452359849059,0.00474563878229,0.0794362295743,0.99999956831,0.000313248000092,-0.000874722617401,-1.07319043373e-05,1793250358142827776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,654.837404623,638,891,785.162595377,822.162595377,653.162595377,631,657,0.452067395905,0.00474568410339,0.0794473039003,0.999999577014,0.000323943074385,-0.000860826024,-3.27806632876e-06,1793250358159494400
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,769.572330132,746.572330132,721,695.572330132,655,638.572330132,890,785.572330132,821.427669868,653.427669868,631,656,0.451076981825,0.00474016498308,0.0794840091401,0.999999620923,0.000340656528545,-0.000801137651174,1.68723481034e-05,1793250358209494528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.852075477,747,720.852075477,695.852075477,655.147924523,638.852075477,890,786,821,653,631,656,0.450715639717,0.00474158793668,0.0795011640608,0.999999647171,0.000334396954436,-0.000770417871193,1.71417806645e-05,1793250358226161408
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,769.367033166,746,720,695,657.632966834,638.632966834,890.367033166,786.632966834,819.367033166,653.632966834,631.632966834,656,0.44784950364,0.00473180723398,0.0795247480956,0.999999698143,0.00025404580932,-0.000734115149103,1.58282048882e-05,1793250358326160640
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,768.329680294,746.329680294,721,693.670319706,664,641,889,787.329680294,819.329680294,653.329680294,631.329680294,656,0.437369066829,0.00459381072135,0.0797635987866,0.999999920615,0.000171998123629,-0.000357576753477,3.64088446085e-05,1793250358576160512
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768.920752503,746.920752503,721,693.079247497,664,641,889,787.920752503,819.920752503,653.920752503,631.920752503,656,0.436603469193,0.00458439678799,0.0798453441858,0.999999956675,0.000170477675818,-0.000236783631996,3.90052544691e-05,1793250358592826624
+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,746.49898228,721,693,664.50101772,641,889.50101772,788,819.49898228,653.49898228,631.49898228,656,0.435726439105,0.00457558587695,0.0798670325452,0.999999964803,0.000162783833264,-0.000205396538477,4.13162409857e-05,1793250358609493248
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.920883654,746,721,693,664.920883654,641,889.920883654,788,819.079116346,653,631,656,0.434827459383,0.00456629286282,0.0798722265766,0.999999967594,0.00015390991244,-0.000198085930984,4.34291453977e-05,1793250358626159872
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.34587727,746,721,693,664.34587727,641,889.34587727,788,819.65412273,653,631,656,0.433899045042,0.00455339288182,0.0798323202294,0.9999999562,0.000143630543782,-0.000254917193081,4.45774936138e-05,1793250358642827008
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.225387883,746,721,693,664.450775766,641,889,788,820,653,631,656,0.432961115278,0.00454271171609,0.0797850937841,0.999999933917,0.00013604379344,-0.000334092091075,4.5164939337e-05,1793250358659493888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.791005619,746,721,693,665.582011239,641,889,788,820,653,631,656,0.432008821555,0.00453537991744,0.0797268174222,0.999999890308,0.000132521630017,-0.000446995392997,4.49056856631e-05,1793250358676161024
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768.618734768,746,720.618734768,693,665.237469535,641,888.618734768,787.618734768,819.618734768,653.381265232,631,656,0.431052429518,0.00452319682309,0.0797078567613,0.999999875023,0.000118505862772,-0.000483448097611,4.67779889069e-05,1793250358692827904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768.014034147,746,720.014034147,693,664.028068293,641,888.014034147,787.014034147,819.014034147,653.985965853,631,656,0.430093635777,0.00450817069223,0.0797119365444,0.999999881061,9.83404602255e-05,-0.000475097947995,4.98994627923e-05,1793250358709494528
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,720.561656144,692.438343856,664,641,888,787,819,653.438343856,631,656,0.429237924519,0.00449633934458,0.0797914755435,0.999999936559,8.98414291539e-05,-0.000341028278149,5.01074471893e-05,1793250358726160896
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,745.863784689,721,692.136215311,664,641,888,787.136215311,819,653,631,656,0.428367373795,0.00448489762145,0.0798524528942,0.999999966994,8.1223266538e-05,-0.000238436110461,5.06219605491e-05,1793250358742827520
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.290642813,721,692.709357187,664,641,888,787.709357187,819,653,631,656,0.42744136762,0.00447446218284,0.0798481406434,0.999999965731,7.13338573688e-05,-0.00024639314251,5.23417484015e-05,1793250358759494656
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,745.291924482,721,692.708075518,664,641,887.708075518,788,819,653,631,656,0.426501737401,0.00446375818761,0.0798200921605,0.999999954737,6.16047609435e-05,-0.000289777308551,5.25378097701e-05,1793250358776161024
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.884188872,721,692.115811128,664,641,887.115811128,788,819,653,631,656,0.425548090449,0.00445277789461,0.079767623192,0.999999929031,5.20405989754e-05,-0.000369609879145,5.11662192195e-05,1793250358792827136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.465070782,746,721,692,664.465070782,641.465070782,887.465070782,788,819,653,631,656,0.424571887174,0.00444456833302,0.0797395943918,0.999999912122,4.45734891339e-05,-0.000413505778573,5.27368458745e-05,1793250358809493760
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.957197426,746,721,692,664.957197426,641.957197426,888.042802574,787.957197426,819,653,631,656,0.423596661367,0.00443927548758,0.0797201631305,0.999999899128,3.9966988678e-05,-0.000444019379653,5.4716339742e-05,1793250358826160640
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.384215039,746,721,692,664.384215039,641.384215039,888.615784961,787.384215039,819,653,631,656,0.422701456806,0.00446176879941,0.0797336417619,0.99999990959,6.44799910924e-05,-0.000416969792284,5.29018643781e-05,1793250358842827520
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.189585689,746,721,691.810414311,664.189585689,641,888.810414311,787,819,653,631,656,0.421837662214,0.00448248486244,0.0797657484989,0.999999930004,8.91578924847e-05,-0.000359647499504,5.19290159597e-05,1793250358859494400
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.765052166,746,721,691.234947834,664.765052166,641,888.234947834,787,819,653,631,656,0.421037798992,0.0044995835354,0.0798357706952,0.999999963125,0.000114171431423,-0.000240708441333,5.2669205768e-05,1793250358876160768
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.647129759,746,721,690.647129759,664.647129759,641,887.647129759,787,819,653,631.352870241,656,0.420197441719,0.00450148138977,0.0798618622089,0.999999972156,0.000116896599176,-0.000198109085535,5.26942958751e-05,1793250358892827136
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.050789481,746,721,690.050789481,664.050789481,641,887.050789481,787,819,653,631.949210519,656,0.419329144797,0.00449289112751,0.0798576428456,0.999999971533,0.000104243448841,-0.000208181876887,5.22259886458e-05,1793250358909493760
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.523715243,745.476284757,721,690,664,641,887,787,819,653,631.476284757,655.476284757,0.418427682649,0.00448073342113,0.0798179548875,0.999999956416,8.81430616883e-05,-0.000277075468672,5.12621676915e-05,1793250358926160384
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.902988309,745.097011691,721,690,664,641,887,787,819,653,631.097011691,655.097011691,0.417532517679,0.00446984769911,0.0797844479635,0.99999993906,7.46475400597e-05,-0.000337221294947,5.08854259348e-05,1793250358942827008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768.325608932,745.674391068,721,690,664,641,887,787,819,653,631.674391068,655.674391068,0.416683822864,0.0044669049394,0.0797978978881,0.999999942257,7.56395266492e-05,-0.000326935675636,5.36441198433e-05,1793250358959493888
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.257666328,746,721,690,664,641,887,787,818.742333672,653,631.742333672,656,0.415850262324,0.00447144192921,0.0797954742243,0.999999937953,8.38012837413e-05,-0.000337721954897,5.49040450838e-05,1793250358976161024
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.848566552,746,721,690,664,641,887,787,818.151433448,653,631.151433448,656,0.415036274656,0.00448565230612,0.0797725216153,0.999999922808,0.000101235538882,-0.000375760033207,5.42256472237e-05,1793250358992827648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.569646774,746,721,690,664,641,886.569646774,787,818.430353226,653,631,656,0.414283651288,0.00449167452233,0.0797721127205,0.999999925212,0.000106890876381,-0.000367916662959,5.27939016326e-05,1793250359009494016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,721,689.991048509,664,641,886.008951491,787,819,653,631,656,0.413552447337,0.0044946198167,0.0797796548905,0.999999933634,0.000108034250914,-0.000344158233988,5.11496109047e-05,1793250359026160640
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,721,689.415492804,664,641,886.584507196,787,819,653,631,656,0.412838605049,0.00448139846065,0.0797987709081,0.999999946163,8.04957453822e-05,-0.000313752344781,5.24832611392e-05,1793250359042827008
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,721,689,664,641,887,787,819,653,631,656,0.4121174655,0.0044704793204,0.0798077921183,0.999999950805,6.70676226413e-05,-0.000301647110256,5.38664877264e-05,1793250359059493632
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,721,689,664,641,887,787,819,653,631,656,0.41137738349,0.00446553629276,0.0797906091278,0.999999937592,9.02673710587e-05,-0.000337046897786,5.53784055446e-05,1793250359076160256
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.314404724,746,721,688.685595276,664,641,886.685595276,787,819,653,631,656,0.41068787213,0.00446645860309,0.079783741091,0.999999931991,9.53719279249e-05,-0.000351855615462,5.58558577582e-05,1793250359092827392
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.907020808,746,721,688.092979192,664,641,886.092979192,787,819,653,631,656,0.410043109919,0.0044725710509,0.0797860005814,0.999999934191,8.44643582099e-05,-0.000348443646096,5.54179290327e-05,1793250359109494528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,746,721,688.488059286,664,641,886,787,819,653,631,656,0.409455522145,0.00448284220672,0.0798097668602,0.999999947139,0.000101664063943,-0.000303773641939,5.57522036262e-05,1793250359126161152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.933482382,746,721,688.866964765,664,641,886,787,819,653,631,656,0.408877596562,0.00449228664865,0.0798345208388,0.9999999579,0.000120417112304,-0.000257961160991,5.6170134492e-05,1793250359142827776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768.358278974,746,721,687.716557949,664,641,886,787,819,653,631,656,0.408292194865,0.00448949051523,0.07983622121,0.999999957904,0.000111048900227,-0.000262127220826,5.61288734936e-05,1793250359159494400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745.782782382,721,687,664,641,886,787,818.782782382,653,631.217217618,656,0.407700478993,0.00448465477631,0.0798193979987,0.999999949519,0.000101676060586,-0.000295808190959,5.58748427215e-05,1793250359176160768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745.206801616,721,687,664,641,886,787,818.206801616,653,631.793198384,656,0.407098334498,0.00447645036391,0.0797719806811,0.999999922682,9.22955783678e-05,-0.00037823687277,5.52693947396e-05,1793250359192827392
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,721,687,664,641,886,787,818,652.620040023,631.620040023,656,0.406581915145,0.0044728957488,0.0797565552353,0.999999914066,9.33284781207e-05,-0.00040022514309,5.45706646361e-05,1793250359209494016
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,745,721,687,664,641,886,787,818,652.027239322,631.027239322,656,0.406113516061,0.00447194579205,0.0797590505494,0.999999918122,0.000100194601498,-0.000388356748382,5.38196811232e-05,1793250359226160640
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,745.549944303,721,687,664,641,886,787,818.549944303,652.549944303,631,656,0.405703453424,0.00447833852341,0.0797844018096,0.999999936312,9.9496963254e-05,-0.000338563972987,5.33836454723e-05,1793250359242827520
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.125628302,745.874371698,721,687,664,641.125628302,886,787,818.874371698,653,631,656,0.405298431462,0.00448446485652,0.0798079111567,0.999999949926,9.99542722231e-05,-0.000295517057517,5.3159218027e-05,1793250359259494400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.698650581,745.301349419,721,687,664,641.698650581,886,787,818.301349419,653,631,656,0.404901354528,0.00448838304965,0.0798209407031,0.999999952918,0.000105821988814,-0.000282998690489,5.36343605296e-05,1793250359276161280
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745.280120543,721.280120543,686.719879457,664,641.719879457,886,787,818.280120543,653,631.280120543,656,0.404516053435,0.00448994256009,0.0798296142815,0.999999953513,0.000114370762665,-0.000277316984996,5.46615281118e-05,1793250359292827904
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,745.870960947,721.870960947,686.129039053,664,641.129039053,886,787,818.870960947,653,631.870960947,656,0.404143814557,0.00448888573396,0.0798334560615,0.999999951509,0.000125893462078,-0.000279218753095,5.63010218999e-05,1793250359309494016
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.547723084,746,721.095446168,686.452276916,664,641,886,787.452276916,818.547723084,653,632,656,0.403801844547,0.00448721526549,0.0798335794385,0.999999949811,0.000125791471078,-0.000284833140386,5.8517132203e-05,1793250359326160640
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768.030725533,745.969274467,720.030725533,686.969274467,664.030725533,641,886,787.938548933,818,653,632,656,0.403471462678,0.00448528844907,0.079832806046,0.999999948481,0.000121332536742,-0.000290963618924,6.04695162199e-05,1793250359342827008
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.605526832,745.394473168,720.605526832,686.394473168,664.605526832,641,886,786.788946336,818,653,632,656,0.40319650998,0.00448185859857,0.0798345515053,0.999999952333,9.72410164034e-05,-0.000287862961421,5.48988648051e-05,1793250359359493632
+365,6.083333333,POSE2_TO_POSE3_RETREAT,769,745,721,686,665,641,886,786.179284488,818.179284488,653,632,656,0.402930400376,0.00447610089755,0.0798349575584,0.999999954207,7.81742709512e-05,-0.000287625508422,5.2406968553e-05,1793250359376160512
+366,6.100000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,665,641,886,786.75075907,818.75075907,653,632,656,0.402683635339,0.00446525095546,0.0798324336208,0.999999952823,7.00993717001e-05,-0.00029365140025,5.66499406127e-05,1793250359392827136
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.664671251,745,721,686,664.664671251,641,886,787,818.664671251,653,632,656,0.402458866626,0.00445485585678,0.0798289637614,0.99999995201,5.89802866474e-05,-0.000298294980079,5.9340095368e-05,1793250359409493760
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.069972727,745,721,686,664.069972727,641,886,787,818.069972727,653,632,656,0.402251111586,0.00444481256882,0.079824762251,0.999999951552,4.55065866693e-05,-0.000301869371093,6.08291788553e-05,1793250359426160640
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768.512159674,745,721,686,664,641,886,787,818,653,632,656,0.402083144361,0.00444485513008,0.0798321610276,0.999999954951,4.52075493195e-05,-0.000290330308386,6.13431193574e-05,1793250359442827520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768.908517919,745,721,686,664.091482081,641.091482081,886,787,818,653,632,656,0.401924908751,0.00444657559501,0.0798406917332,0.999999958053,5.52401494018e-05,-0.000277528371993,6.18147008044e-05,1793250359459494144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.33516995,745,721,686,664.66483005,641.66483005,886,787,818,653,632,656,0.401789985567,0.00445004979148,0.0798470366009,0.999999955836,0.000110438919776,-0.000268690202956,6.27481070296e-05,1793250359476161024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.245028492,745.245028492,721,686,664.754971508,641.754971508,886,787,818.245028492,653.245028492,632,656,0.401659527389,0.0044571386098,0.0798483794816,0.999999952047,0.000142968454091,-0.000267468493251,6.26617467353e-05,1793250359492827648
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..442a5401c6be00a1d349a93e69ce12e68efa1df2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
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+173,2.883333333,pose1_to_pose2_press,0.600805377958,0.01015012009,1.07003355339,0.571376056479,0.0188227542674,1.0697049509
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+175,2.916666667,pose1_to_pose2_press,0.602338203978,0.010150178487,1.07003338552,0.57290888287,0.0188228138733,1.0697047819
+176,2.933333333,pose1_to_pose2_press,0.603081583308,0.0101502273005,1.07003349128,0.573652261221,0.018822859313,1.06970488641
+177,2.950000000,pose1_to_pose2_press,0.603811712122,0.0101501678046,1.07003346554,0.574382389699,0.01882279884,1.06970486507
+178,2.966666667,pose1_to_pose2_press,0.604549801492,0.0101502696639,1.07003335687,0.575120478285,0.0188228980989,1.06970475801
+179,2.983333333,pose1_to_pose2_press,0.605302704128,0.0101501522342,1.07003348524,0.575873382619,0.0188227860774,1.06970487726
+180,3.000000000,pose1_to_pose2_press,0.606045807802,0.0101502373694,1.07003342384,0.576616485277,0.0188228676564,1.06970481304
+181,3.016666667,pose1_to_pose2_press,0.606771889029,0.0101501158195,1.07003348256,0.577342566866,0.0188227472809,1.06970487046
+182,3.033333333,pose1_to_pose2_press,0.607462579432,0.0101499807978,1.07003340314,0.578033259951,0.0188226216348,1.0697047984
+183,3.050000000,pose1_to_pose2_press,0.608115002317,0.0101499697756,1.07003333185,0.578685682651,0.0188226102194,1.06970473344
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+187,3.116666667,pose1_to_pose2_press,0.610535266799,0.0101502681091,1.07003347375,0.581105944863,0.0188229006916,1.06970487159
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+190,3.166666667,pose1_to_pose2_press,0.612337491469,0.0101501958503,1.07003357808,0.582908168399,0.0188228244496,1.0697049728
+191,3.183333333,pose1_to_pose2_press,0.612889473412,0.010150204155,1.07003379875,0.583460151629,0.0188228369136,1.06970518818
+192,3.200000000,pose1_to_pose2_press,0.613413142522,0.0101502038674,1.07003364193,0.583983821449,0.0188228391904,1.06970503603
+193,3.216666667,pose1_to_pose2_press,0.613910253883,0.0101500899597,1.07003341711,0.584480933202,0.0188227267206,1.0697048149
+194,3.233333333,pose1_to_pose2_press,0.614382306387,0.0101499798745,1.07003335078,0.584952985914,0.0188226173885,1.06970474922
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+196,3.266666667,pose1_to_pose2_press,0.615260351311,0.0101501897056,1.07003347634,0.585831029177,0.0188228216859,1.06970487352
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+199,3.316666667,pose1_to_pose2_press,0.616463906367,0.0101500508399,1.07003355977,0.587034585566,0.0188226876914,1.06970495938
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+202,3.366666667,pose1_to_pose2_press,0.617539289391,0.0101501167535,1.07003344593,0.588109967472,0.0188227500761,1.06970484409
+203,3.383333333,pose1_to_pose2_press,0.617841297906,0.0101501135868,1.07003327241,0.588411976188,0.0188227478106,1.06970467416
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+205,3.416666667,pose1_to_pose2_press,0.61836233519,0.0101501522889,1.07003365864,0.588933012542,0.0188227830552,1.06970504784
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+264,4.400000000,pose2_to_pose3_retreat,0.620545873487,0.0101502774387,1.07003379147,0.591116550309,0.0188229070231,1.069705171
+265,4.416666667,pose2_to_pose3_retreat,0.620545791171,0.0101502352636,1.07003370643,0.591116468153,0.0188228655419,1.06970508996
+266,4.433333333,pose2_to_pose3_retreat,0.620545722471,0.0101502000647,1.07003363546,0.591116399587,0.0188228309221,1.06970502232
+267,4.450000000,pose2_to_pose3_retreat,0.620545664544,0.0101501703853,1.07003357561,0.591116341772,0.018822801731,1.0697049653
+268,4.466666667,pose2_to_pose3_retreat,0.62054547599,0.0101501250946,1.07003348374,0.591116153405,0.0188227572356,1.06970487766
+269,4.483333333,pose2_to_pose3_retreat,0.62054526897,0.0101501274746,1.07003348739,0.591115946409,0.0188227596823,1.06970488094
+270,4.500000000,pose2_to_pose3_retreat,0.620544887738,0.0101501318575,1.07003349411,0.591115565219,0.018822764188,1.06970488699
+271,4.516666667,pose2_to_pose3_retreat,0.620543952753,0.010150166197,1.07003355731,0.591114630038,0.0188227977945,1.06970494834
+272,4.533333333,pose2_to_pose3_retreat,0.620540382079,0.0101503019529,1.07003385424,0.591111057995,0.0188229286886,1.0697052401
+273,4.550000000,pose2_to_pose3_retreat,0.620532484795,0.0101501398566,1.0700336027,0.591103163083,0.0188227749372,1.06970499649
+274,4.566666667,pose2_to_pose3_retreat,0.620516170868,0.0101502642125,1.07003345072,0.5910868471,0.0188228926957,1.06970485562
+275,4.583333333,pose2_to_pose3_retreat,0.620490533174,0.0101501799379,1.07003343759,0.591061210351,0.0188228114246,1.0697048357
+276,4.600000000,pose2_to_pose3_retreat,0.620454281465,0.0101502479943,1.07003344682,0.591024958102,0.0188228775976,1.06970484436
+277,4.616666667,pose2_to_pose3_retreat,0.620408822483,0.0101501971482,1.07003357334,0.590979501394,0.0188228342228,1.06970496578
+278,4.633333333,pose2_to_pose3_retreat,0.620354013381,0.010150137311,1.07003350109,0.590924692428,0.0188227751146,1.06970489887
+279,4.650000000,pose2_to_pose3_retreat,0.620292027778,0.0101502791186,1.07003338381,0.590862702784,0.0188229030277,1.06970477957
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+281,4.683333333,pose2_to_pose3_retreat,0.620143020705,0.0101502310435,1.07003352379,0.5907136986,0.0188228645841,1.06970491856
+282,4.700000000,pose2_to_pose3_retreat,0.620053609896,0.0101501583577,1.07003353856,0.590624287985,0.0188227925127,1.06970493468
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+284,4.733333333,pose2_to_pose3_retreat,0.619839565112,0.0101501983169,1.07003363975,0.590410242859,0.0188228311952,1.06970503355
+285,4.750000000,pose2_to_pose3_retreat,0.619712970721,0.0101502570106,1.07003374379,0.59028364678,0.0188228839501,1.06970513356
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+287,4.783333333,pose2_to_pose3_retreat,0.619414782681,0.0101501477818,1.07003361064,0.589985460334,0.0188227801957,1.06970500537
+288,4.800000000,pose2_to_pose3_retreat,0.619241546279,0.0101502599255,1.07003343121,0.589812222893,0.0188228889627,1.06970483212
+289,4.816666667,pose2_to_pose3_retreat,0.619051732895,0.0101502366196,1.07003344768,0.589622409935,0.0188228670594,1.06970484947
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..756591dbb0cee2eb8f3454483f2b5a859d6a9e76
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ed4506ef8d3b00fd9f8ed08ee36ad45794fb537954273667f0b9108ec86a28
+size 26007782
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07f1d1e3f586902e41626a3ad853285fe78e52e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,745,721,685,665,641,886,787,818,653,632,656,0.400969235119,0.00447980872096,0.0798330786394,0.999999952288,0.000103362203405,-0.000286388090398,5.21721125001e-05,1793250360233022208
+1,0.016666667,BASELINE,768,745,720.405063696,685,664.405063696,641,886,787,818,653,631.405063696,656,0.400970020472,0.0044803205116,0.0798338212926,0.999999952485,0.00010417488651,-0.000285400070247,5.21909805691e-05,1793250360249688832
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+16,0.266666667,BASELINE,768,745,721,685.6974765,664,641,886,787,818,653,632,656,0.400970481243,0.00448193894501,0.0798345669242,0.999999952935,0.000106010493893,-0.00028320807244,5.18213397818e-05,1793250360499687424
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+20,0.333333333,BASELINE,769,745,721,685.619513602,664.380486398,641,886,787.619513602,818.619513602,653,632,656,0.400972782575,0.00448162291304,0.0798352709188,0.999999953605,0.000105054294705,-0.000281236421944,5.15668698187e-05,1793250360566354176
+21,0.350000000,BASELINE,769,745,721,686,664.205336583,641,886,787.794663417,818.794663417,653,631.794663417,656,0.400973074098,0.00448151635789,0.0798355364564,0.9999999538,0.000104360882984,-0.000280815312945,5.14992251642e-05,1793250360583020544
+22,0.366666667,BASELINE,769,745,721,686,664.783291144,641,886,787.216708856,818.216708856,653,631.216708856,656,0.40097199215,0.00448030878877,0.0798361522894,0.999999953621,0.000105441043225,-0.000280931734713,5.21292155099e-05,1793250360599687424
+23,0.383333333,BASELINE,768.641752297,745,721,685.641752297,665,641,886,787,818,653,631,656,0.400972362263,0.00447996629698,0.0798363760425,0.999999953764,0.000105129016762,-0.000280481699751,5.24316891784e-05,1793250360616354304
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+26,0.433333333,BASELINE,769,745.910887459,721,685.089112541,664.089112541,641,886,787,818.089112541,653,632,656,0.400969517978,0.00448235899727,0.079834472387,0.999999952721,0.000107269996691,-0.000283417770764,5.2209761157e-05,1793250360666355200
+27,0.450000000,BASELINE,769,745.318321991,721,685.681678009,664.681678009,641,886,787,818.681678009,653,632,656,0.400970228341,0.00448092247069,0.0798352028947,0.999999953252,0.000105342698634,-0.000282267781787,5.21811568267e-05,1793250360683021312
+28,0.466666667,BASELINE,768.733987899,745,721,685.733987899,665,641,886,787,818.733987899,653,631.733987899,656,0.400971053664,0.00448028874797,0.079835845164,0.999999953579,0.000104866777669,-0.000281285677389,5.2180243331e-05,1793250360699687936
+29,0.483333333,BASELINE,768.159208228,745,721,685.159208228,665,641,886,787,818.159208228,653,631.159208228,656,0.400972012426,0.0044805868619,0.0798363850125,0.999999953671,0.00010607551018,-0.000280498441313,5.22114713515e-05,1793250360716354816
+30,0.500000000,BASELINE,768.415433252,745,721,685.415433252,665,641,886.415433252,787,818,653,631.415433252,656,0.40097134629,0.00448133082108,0.0798362866384,0.999999953494,0.000105859972875,-0.000281266908921,5.19096527808e-05,1793250360733021440
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+38,0.633333333,BASELINE,768,745.931672573,721.068327427,685.931672573,665,641,886,787,819,653,632,656,0.400972085442,0.00448121056666,0.0798363913779,0.999999953815,0.000106092720094,-0.000279965012984,5.22880231385e-05,1793250360866354176
+39,0.650000000,BASELINE,768,745.352160801,721.647839199,685.352160801,665,641,886,787,819,653,632,656,0.400972360183,0.00448036865662,0.0798363415216,0.999999953972,0.000104452724462,-0.000280055860196,5.21077260384e-05,1793250360883020800
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+41,0.683333333,BASELINE,768,745,721.19286484,685,665,641,886.80713516,787,819,653,631.19286484,656,0.400972391374,0.00448209420618,0.0798369011087,0.99999995394,0.000106565071237,-0.00027949155831,5.14713423913e-05,1793250360916354304
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+51,0.850000000,BASELINE,768.391905916,745.608094084,721,685.391905916,665,641,886,787,818,652.608094084,632,656,0.400971540509,0.00448035243802,0.0798363441652,0.999999953917,0.000105435486555,-0.000279892909273,5.20566514926e-05,1793250361083021056
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+53,0.883333333,BASELINE,768.772601612,745.227398388,720.227398388,685,665,641,886,787,818,653,631.227398388,656,0.400971834959,0.00448208028835,0.0798363576542,0.999999953795,0.000106627545067,-0.000279940389689,5.17132146137e-05,1793250361116354304
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+55,0.916666667,BASELINE,768.076228588,745,720.923771412,685,665,641.923771412,886,787,818,653,631,656,0.40097142315,0.0044810742703,0.0798361545798,0.999999953583,0.000105380010945,-0.000281215703248,5.14502810646e-05,1793250361149687552
+56,0.933333333,BASELINE,768,745,721,685,665,641.489597079,886,787,818,653,631.510402921,656,0.40097253731,0.00448221193285,0.0798370900662,0.99999995401,0.000105955954134,-0.000279472403156,5.14585978525e-05,1793250361166354432
+57,0.950000000,BASELINE,768,745,721,685,665,641,886,787,818,653.097156876,632,656,0.400973537097,0.00448321085812,0.079837886071,0.999999954437,0.000106447455502,-0.000277749997056,5.14832820594e-05,1793250361183021056
+58,0.966666667,BASELINE,768,745,721,685,665,641,886,787,818,653.675944575,632,656,0.400972883823,0.00448183096796,0.0798371726133,0.999999954481,0.000105331375508,-0.000278004458196,5.1546169631e-05,1793250361199687680
+59,0.983333333,BASELINE,768,745,721,685,665,641,886,787,818,653.746313908,632,656,0.400972411216,0.00448096396795,0.0798365964209,0.999999954277,0.00010519653323,-0.000278760309029,5.16868703488e-05,1793250361216354304
+60,1.000000000,BASELINE,768,745,721,685,665,641,886,787,818,653.169903207,632,656,0.400972168441,0.00448074943661,0.0798361948493,0.999999953758,0.000106309964038,-0.000280153998545,5.19265604091e-05,1793250361233020928
+61,1.016666667,BASELINE,768.406338675,745,721,685.406338675,665.406338675,641,886,787,818,653,632,656,0.400971936077,0.00448026102599,0.0798362293431,0.999999953771,0.000105361024383,-0.000280482610156,5.18388214335e-05,1793250361249687552
+62,1.033333333,BASELINE,768.982509963,745,721,685.982509963,665.982509963,641,886,787,818,653,632,656,0.400971708064,0.00447965814527,0.079836446094,0.999999954004,0.000103550099853,-0.000280366063557,5.16142307674e-05,1793250361266354176
+63,1.050000000,BASELINE,769,745,721,686,665.430508858,641,886,787,818,653,631.430508858,656,0.400971311066,0.00448107102365,0.0798358699472,0.999999953761,0.000104361895768,-0.000280937823479,5.157428359e-05,1793250361283020800
+64,1.066666667,BASELINE,768.844649471,745,721,685.844649471,665,641,886,787,818,653,631.155350529,656,0.400970770445,0.00448211212347,0.0798354337491,0.999999953511,0.000105142759804,-0.000281549241837,5.15068682748e-05,1793250361299687168
+65,1.083333333,BASELINE,768.262798969,745,721,685.262798969,665,641,886,787,818,653,631.737201031,656,0.400969850045,0.0044819592915,0.0798354499145,0.999999953283,0.000105613287199,-0.000282210380412,5.1348172191e-05,1793250361316354048
+66,1.100000000,BASELINE,768,745,721,685.315357651,664.684642349,641,885.684642349,787,818,653,632,656,0.400969412813,0.00448212040981,0.0798354124606,0.999999953135,0.000106298940064,-0.000282487442036,5.12997539016e-05,1793250361333020928
+67,1.116666667,BASELINE,768,745,721,685.890471637,664.109528363,641,885.109528363,787,818,653,632,656,0.40096937356,0.00448254012524,0.079835330841,0.999999953052,0.000107161789188,-0.000282448144025,5.13421701231e-05,1793250361349687552
+68,1.133333333,BASELINE,768,745,721,685.537027957,664.462972043,641,885.462972043,787,818.462972043,653,632,656,0.400971355758,0.00448227796855,0.0798363481189,0.999999953574,0.000107080058247,-0.000280599849701,5.14706103928e-05,1793250361366354176
+69,1.150000000,BASELINE,768.036206468,745,721,685.036206468,665,641,886,787,818.963793532,653,631.963793532,656,0.400973642207,0.00448193345702,0.0798375527873,0.999999954213,0.000106763917675,-0.000278412580769,5.15957422672e-05,1793250361383020800
+70,1.166666667,BASELINE,768.630221202,745,721,685.630221202,665,641,886,787,818.369778798,653,631.369778798,656,0.400973289678,0.00448279147979,0.0798376617049,0.999999954516,0.000106259843507,-0.000277559335419,5.13581256317e-05,1793250361399687424
+71,1.183333333,BASELINE,769,745,721,685.782143154,665,641,886,787,818,653,631.217856846,656,0.400972133333,0.00448298039954,0.0798371964112,0.999999954453,0.00010528987599,-0.000278173124969,5.12532158445e-05,1793250361416354304
+72,1.200000000,BASELINE,769,745,721,685.205026929,665,641,886,787,818,653,631.794973071,656,0.400969651446,0.00448206592727,0.0798357842077,0.999999953781,0.000103551621517,-0.000281206145438,5.1367147799e-05,1793250361433021184
+73,1.216666667,BASELINE,769,745,721,685,664.62921419,641,886,787,818,653,632,656,0.400969529353,0.00448178526886,0.0798357750522,0.999999953721,0.000104229810423,-0.000281156565997,5.14372225707e-05,1793250361449687808
+74,1.233333333,BASELINE,769,745,721,685,664.054119727,641,886,787,818,653,632,656,0.400970707542,0.00448185385164,0.0798365389978,0.999999953997,0.000106239496704,-0.000279408426661,5.14831313567e-05,1793250361466354432
+75,1.250000000,BASELINE,768.467460976,745.532539024,721,685.532539024,664.532539024,641,886,787,818.532539024,653,632,656,0.400971138086,0.00448074074755,0.0798370034404,0.999999954479,0.000103729151425,-0.000278607259949,5.15727121423e-05,1793250361483020800
+76,1.266666667,BASELINE,768,745.881388072,721,686,664.881388072,641.118611928,885.881388072,787,818.881388072,653,631.881388072,655.881388072,0.400971338075,0.00448010212914,0.0798372664966,0.999999954673,0.000102446650743,-0.000278373967993,5.16313102399e-05,1793250361499687424
+77,1.283333333,BASELINE,768,745.302254022,721,686,664.302254022,641.697745978,885.302254022,787,818.302254022,653,631.302254022,655.302254022,0.400970944459,0.00448178235702,0.0798368684495,0.999999953676,0.000107754440466,-0.000279963561018,5.15520008449e-05,1793250361516354048
+78,1.300000000,BASELINE,768,745,721,685.723594163,664.276405837,641.723594163,885.276405837,787,818,653,631.276405837,655.276405837,0.400970807045,0.00448265559182,0.0798364093327,0.999999953228,0.000109378081321,-0.000280946364663,5.14646621546e-05,1793250361533020672
+79,1.316666667,BASELINE,768,745,721,685.145451989,664.854548011,641.145451989,885.854548011,787,818,653,631.854548011,655.854548011,0.400970949312,0.00448264787863,0.0798358835497,0.999999953403,0.00010697994863,-0.000281266771179,5.1368558351e-05,1793250361549687296
+80,1.333333333,BASELINE,768,745,721,685,665,641,886,787,818.42862714,653,632,656,0.400971970771,0.00448283646364,0.0798364228448,0.999999953813,0.000106773044052,-0.000279892350718,5.13274175366e-05,1793250361566354176
+81,1.350000000,BASELINE,768.001388593,745,721,685.001388593,665,641,886,787,818.998611407,653,632,656,0.400973281899,0.00448308744821,0.0798373166309,0.999999954298,0.000107300014245,-0.000277954816247,5.13056494373e-05,1793250361583020800
+82,1.366666667,BASELINE,768.594652319,745,721,685.594652319,665,641,886,787,818.405347681,653,632,656,0.400972087847,0.0044818092747,0.0798367003078,0.999999954101,0.000106666450378,-0.000278836737935,5.16660079966e-05,1793250361599687424
+83,1.383333333,BASELINE,768.818021976,745,721,685.818021976,665,641,885.818021976,787,818,653,631.818021976,656,0.400971443646,0.00448044865415,0.079836291543,0.999999954014,0.000105402344413,-0.00027959148317,5.18647340928e-05,1793250361616354048
+84,1.400000000,BASELINE,768.243504875,745,721,685.243504875,665,641,885.243504875,787,818,653,631.243504875,656,0.400971985515,0.00447891018946,0.0798363304955,0.999999954161,0.000102778115777,-0.000280071900242,5.17148079497e-05,1793250361633020672
+85,1.416666667,BASELINE,768,745,721,685.333184216,665,641,885.333184216,787,818,653,631.333184216,655.666815784,0.40097296754,0.0044796590562,0.079837557507,0.999999954588,0.00010352748751,-0.000278279243121,5.16370570824e-05,1793250361649687552
+86,1.433333333,BASELINE,768,745,721,685.911471068,665,641,885.911471068,787,818,653,631.911471068,655.088528932,0.40097427336,0.00448209056865,0.0798396584987,0.999999955208,0.000106758604638,-0.000274814428495,5.16124010263e-05,1793250361666354176
+87,1.450000000,BASELINE,768.497421023,745,721,685.502578977,665,641,886,787,818.497421023,653,632,655.497421023,0.400971705394,0.00448285184477,0.0798375713434,0.999999954271,0.000107220956073,-0.0002780424321,5.15151682791e-05,1793250361683020800
+88,1.466666667,BASELINE,769,745,721,685,665,641,886,787,819,653,632,656,0.400969213009,0.00448323951308,0.0798353653925,0.999999953299,0.000107200614489,-0.000281546265186,5.13967437694e-05,1793250361699687424
+89,1.483333333,BASELINE,769,745,721,685,665,641,886,787,819,653,632,656,0.400971320948,0.00448320205178,0.0798369441126,0.999999953869,0.000107285766551,-0.000279511942648,5.12304502056e-05,1793250361716354304
+90,1.500000000,BASELINE,768.759069762,745.240930238,721,685.240930238,665,641,885.759069762,787,819,653,631.759069762,656,0.400972004344,0.00448318800333,0.0798375768775,0.999999954038,0.000107381841764,-0.000278865045487,5.12649457987e-05,1793250361733020928
+91,1.516666667,BASELINE,768.18187443,745.81812557,721,685.81812557,665,641,885.18187443,787,819,653,631.18187443,656,0.400970699514,0.00448320663207,0.0798368893777,0.999999953649,0.000107493162356,-0.00028015457095,5.15796817986e-05,1793250361749687552
+92,1.533333333,BASELINE,768,745.607202347,721,685.607202347,665,641,885,787,818.607202347,653,631.392797653,656,0.400969320809,0.00448236102186,0.0798358720424,0.999999953278,0.000106463218711,-0.0002818596073,5.1612366404e-05,1793250361766354176
+93,1.550000000,BASELINE,768,745.033691079,721,685.033691079,665,641,885,787,818.033691079,653,631.966308921,656,0.400967908117,0.00448111780301,0.0798347029603,0.999999952912,0.000104908215966,-0.000283755807009,5.15152882272e-05,1793250361783020800
+94,1.566666667,BASELINE,768,745,721,685.558267138,665,641,885,787,818,653,632,656,0.400968726743,0.00448218437495,0.0798349799474,0.999999953141,0.000104951282224,-0.000282946269599,5.14279819302e-05,1793250361799687424
+95,1.583333333,BASELINE,768.147527708,745,721,685.852472292,665,641,885.147527708,787,818,653,631.852472292,656,0.400969468274,0.00448295064764,0.0798352935516,0.999999953341,0.000105175430847,-0.000282164428843,5.13835744908e-05,1793250361816354304
+96,1.600000000,BASELINE,768.725556776,745,721,685.274443224,665,641,885.725556776,787,818,653,631.274443224,656,0.400969578454,0.00448241994798,0.0798354506449,0.999999953347,0.000105636950458,-0.00028195618877,5.14625707151e-05,1793250361833021184
+97,1.616666667,BASELINE,769,745,721,685,665,641,886,787,818,653,631.302507872,656,0.400970049551,0.00448255445793,0.0798356036728,0.999999953362,0.000106020370879,-0.00028175903966,5.14555530631e-05,1793250361849687552
+98,1.633333333,BASELINE,769,745,721,685,665,641,886,787,818,653,631.878484444,656,0.400970846918,0.00448329032088,0.0798357530256,0.999999953386,0.000106333189194,-0.000281571916849,5.13707784121e-05,1793250361866354176
+99,1.650000000,BASELINE,769,745,721,685,665,641,885.537865953,787,818,653,632,656,0.400972062743,0.00448193063195,0.0798371013278,0.999999954069,0.000105578040419,-0.000279383417335,5.15850834534e-05,1793250361883021056
+100,1.666666667,BASELINE,769,745,721,685,665,641,885.047259577,787.047259577,818.047259577,653,632,656,0.400973276498,0.00448027230691,0.0798386233302,0.999999954835,0.000104765586792,-0.000276889700443,5.18330597588e-05,1793250361899687680
+101,1.683333333,BASELINE,769,745,721,685,665,641,885.625911742,787.625911742,818.625911742,653,632,656,0.400973208897,0.00448155635231,0.0798384937999,0.999999954638,0.000106519630936,-0.000276981215752,5.15604575386e-05,1793250361916354560
+102,1.700000000,BASELINE,768.795646475,745,721,685,665,641,885.795646475,787.795646475,818.795646475,653,632,656,0.400972305454,0.0044820190686,0.0798379210629,0.999999954312,0.000107308615805,-0.000277872764028,5.14522631968e-05,1793250361933020928
+103,1.716666667,BASELINE,768.217589481,745,721,685,665,641,885.217589481,787.217589481,818.217589481,653,632,656,0.4009698735,0.00448097981144,0.0798365378289,0.999999953749,0.000106332786308,-0.000280227341103,5.16447233238e-05,1793250361949687552
+104,1.733333333,BASELINE,768.359125166,745.359125166,721,685,665,641,885.359125166,787.359125166,818,653,632,656,0.400970131295,0.00448167876186,0.079836935278,0.999999954009,0.000106160760009,-0.000279401708399,5.14405452609e-05,1793250361966354432
+105,1.750000000,BASELINE,768.935029586,745.935029586,721,685,665,641,885.935029586,787.935029586,818,653,632,656,0.400972012707,0.00448342694897,0.0798384076034,0.999999954762,0.000106473934526,-0.0002766564012,5.0996943921e-05,1793250361983021056
+106,1.766666667,BASELINE,768.511874502,745.511874502,721,685,665,641,886,788,818,653,632,656,0.400972749248,0.00448242007899,0.0798383504513,0.999999954853,0.000105959981451,-0.000276490797054,5.1184775184e-05,1793250361999687680
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,721,685,665,642,885,788,818,653,632,655,0.40097264567,0.00448348332073,0.0798370892439,0.999999954009,0.000108786147794,-0.000278377356804,5.15064530023e-05,1793250362041972992
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,721,685.574696544,665,641.425303456,885.574696544,787.425303456,818.574696544,653,632,655.574696544,0.40097229478,0.00448252778955,0.0798373088415,0.99999995419,0.000107737709378,-0.000278104825287,5.16726258377e-05,1793250362058639616
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,721,685.850510168,665,641,886,787,819,653,632,656,0.40097195746,0.00448156758577,0.0798375925158,0.999999954347,0.000106525714195,-0.000277993804556,5.17476716585e-05,1793250362075306496
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,721,685.275441327,665,641,886,787,819,653,632,656,0.400971658773,0.00448059407948,0.0798380586087,0.999999954437,0.000104848092943,-0.000278342584936,5.15632902114e-05,1793250362091972864
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745,721,685,665,641.306919799,886,787,818.693080201,653,632,656,0.400972021004,0.0044807619317,0.0798382733071,0.999999954571,0.000104560600415,-0.000277983036079,5.14927675039e-05,1793250362108639232
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745,721,685,665,641.895984535,886,787,818.104015465,653,632,656,0.400972990803,0.00448197901093,0.0798382569037,0.999999954745,0.000105551024182,-0.000276972334983,5.15269127598e-05,1793250362125306112
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.475921917,745.475921917,721,685,665,642,886.475921917,787,818,653.475921917,631.524078083,656,0.400972970049,0.00448246969724,0.0798380071392,0.999999954544,0.000107054440303,-0.000277112155571,5.15824754097e-05,1793250362141972992
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.945455849,745.945455849,721.054544151,685,665,641.945455849,886.945455849,787,818.054544151,653.945455849,631.054544151,656,0.400972780802,0.00448282347703,0.0798377142949,0.999999954265,0.000108518604849,-0.00027753951808,5.1628605919e-05,1793250362158639872
+115,1.916666667,POSE1_TO_POSE2_PRESS,768.36059008,745.36059008,721.63940992,685,665,641.36059008,886.36059008,787,818.63940992,653.36059008,631.63940992,656,0.400973018622,0.00448336066215,0.0798374891494,0.999999954039,0.000108531552451,-0.000278363769937,5.15383746894e-05,1793250362175306240
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.221957724,745,721.778042276,685.221957724,665,641,886,787,818.778042276,653,631.778042276,656,0.400978961689,0.00448350784429,0.0798396389167,0.999999954993,0.000108079559776,-0.000275122503521,5.13761425924e-05,1793250362191972864
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.800778651,745,721.199221349,685.800778651,665,641,886,787,818.199221349,653,631.199221349,656,0.400994077642,0.00448302798031,0.0798456070642,0.999999957779,0.000106880037008,-0.00026534470454,5.10981476445e-05,1793250362208639744
+118,1.966666667,POSE1_TO_POSE2_PRESS,768.620438355,745,721,685.620438355,665,640.620438355,885.620438355,787,818,653,631,656.379561645,0.401028614017,0.00448289115296,0.0798580223438,0.999999963927,0.000105633309855,-0.000241729878132,5.05389880821e-05,1793250362225306368
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.041675216,745,721,685.041675216,665,640.041675216,885.041675216,787,818,653,631,656.958324784,0.401073342615,0.00448293435802,0.0798738212069,0.999999971083,0.000104361808716,-0.000210853103657,4.98322676785e-05,1793250362241972992
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.465333715,745,721,685,665,641.069332571,885.534666285,787,818,652.465333715,631.534666285,656.465333715,0.401141076541,0.00448262823192,0.079891114382,0.999999978007,0.000104141247322,-0.000175454544317,4.8534458503e-05,1793250362258639360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.110590938,745,721,685,665.110590938,641.889409062,886,787,818.110590938,652.110590938,631.889409062,656,0.401212301698,0.00448299494862,0.0799069179961,0.999999982974,0.000104468878777,-0.000144656812466,4.70459319317e-05,1793250362275305728
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.685554436,745,721,685,665.685554436,641.314445564,886,787,818.685554436,652.685554436,631.314445564,656,0.401290690965,0.00448630075903,0.0799159800538,0.999999984226,0.000106755959872,-0.000134651289168,4.49491700388e-05,1793250362291972608
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.268468782,745,721,685,665.731531218,641,886,787,818.731531218,653,631.268468782,656,0.401378271467,0.00448854536766,0.0799224580254,0.999999985522,0.000106698161236,-0.000125614412439,4.23496971773e-05,1793250362308639488
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.860979779,745,721,685,665.139020221,641,886,787,818.139020221,653,631.860979779,656,0.4014769458,0.00448950910397,0.0799258170007,0.999999986913,0.000103810089177,-0.000117746694155,3.91434515632e-05,1793250362325306112
+125,2.083333333,POSE1_TO_POSE2_PRESS,769,745,721,685,664.557090136,641,886,787,818,653,632,656,0.401593846059,0.00448975001994,0.0799310018584,0.999999988303,0.000100332847705,-0.000109709943806,3.59388441439e-05,1793250362341972736
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.978524289,745,721,685.021475711,664.021475711,641,886,787,818,653,632,656,0.40171749536,0.00448987366089,0.0799368071917,0.999999989644,9.67344944911e-05,-0.000101432525792,3.26617172431e-05,1793250362358639360
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.403069133,745,721,685.596930867,664.596930867,641,886,787,818,653,632,656,0.401871113509,0.00449268803722,0.0799441793796,0.999999991244,9.46710197318e-05,-8.82836027259e-05,2.7500949023e-05,1793250362375306496
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745,721,686,665.171925776,641,886,787,818,653,632,656,0.402032381947,0.00449508533956,0.0799507367936,0.999999992636,9.14807631171e-05,-7.66016268037e-05,2.21633640813e-05,1793250362391973376
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745,721,686,665.745844464,641,886,787,818,653,632,656,0.402211538093,0.00449650744867,0.0799553891208,0.999999993861,8.56558912967e-05,-6.83496349658e-05,1.64123510645e-05,1793250362408639744
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745,721,685.668965972,665.668965972,641,886,787,818,653,631.668965972,656,0.402407293028,0.00449924726314,0.0799569223981,0.999999994648,7.95695469032e-05,-6.53826427627e-05,9.85565181057e-06,1793250362425306112
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,745,721,685.074817978,665.074817978,641,886,787,818,653,631.074817978,656,0.402616241105,0.0045030344223,0.0799559765786,0.999999995093,7.32753770681e-05,-6.66162970237e-05,2.65857275297e-06,1793250362441972736
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.503073746,745,721.503073746,685,665,641.503073746,886,787,818,653,631.503073746,656,0.40284163783,0.0045076449521,0.0799496849435,0.99999999447,6.80343411663e-05,-8.00440822683e-05,-4.99984371258e-06,1793250362458639616
+133,2.216666667,POSE1_TO_POSE2_PRESS,769,745.077153861,721.922846139,685.077153861,665,642,886,787.077153861,818.077153861,653,632,656,0.40307576101,0.00451243886876,0.0799434750454,0.999999993598,6.30517206987e-05,-9.30861279874e-05,-1.27869851263e-05,1793250362475306496
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,745.641945695,721.358054305,685.641945695,665,642,886,787.641945695,818.641945695,653,632,656,0.403350061116,0.00451764213557,0.0799426493655,0.999999993769,5.87434412945e-05,-9.25868488901e-05,-2.09676448583e-05,1793250362491973376
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.780247591,745.780247591,721,686.219752409,665,642,886,787.780247591,818.780247591,653,632,656,0.403647278371,0.00452243700881,0.0799459479598,0.999999994167,5.81009483712e-05,-8.66224935709e-05,-2.80402911638e-05,1793250362508640256
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.179900091,745.179900091,721,686.820099909,665,642,886,787.179900091,818.179900091,653,632,656,0.403984186437,0.00452652457398,0.0799563894952,0.999999994879,6.38073296544e-05,-7.11930261483e-05,-3.31939387963e-05,1793250362525306880
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.40505847,745,721.40505847,687,665,642,886,787,818,653,632,656,0.404349761222,0.00453473273347,0.0799586804154,0.999999991726,0.000106568212616,-6.61445612618e-05,-2.85766118437e-05,1793250362541973504
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.983432432,745,721.983432432,687,665,642,886,787,818,653,632,656,0.404727601848,0.00454470400333,0.0799574838689,0.999999984014,0.000165183890541,-6.55378961985e-05,-1.97785024206e-05,1793250362558640384
+139,2.316666667,POSE1_TO_POSE2_PRESS,769,745.557908337,721.442091663,687.557908337,665,641.442091663,886.557908337,787,818,653,632,656,0.4051417547,0.00455009520167,0.079956996396,0.999999995211,7.18721401782e-05,-6.13622660002e-05,-2.54548518738e-05,1793250362575306752
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.867319374,721,688,665,641.132680626,886.867319374,787,818,653,632,656,0.405563132349,0.00455648287728,0.0799547324916,0.999999997608,5.41091352214e-06,-6.18469237087e-05,-3.04761012783e-05,1793250362591973376
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.291172371,721,688,665,641.708827629,886.291172371,787,818,653,632,656,0.406005078651,0.00456665257471,0.0799464612242,0.999999995476,4.36686324666e-05,-7.82597195961e-05,-3.18810866845e-05,1793250362608640512
+142,2.366666667,POSE1_TO_POSE2_PRESS,768.708453478,745,721.291546522,688,665,642,886.291546522,787,818,653,632,656,0.406463843551,0.00457604740159,0.0799379388338,0.999999991662,8.3298630426e-05,-9.31845415811e-05,-3.24618041625e-05,1793250362625307648
+143,2.383333333,POSE1_TO_POSE2_PRESS,768.119019693,745,721.880980307,688,665,642,886.880980307,787,818,653,632,656,0.406939792883,0.00458465050678,0.079929159858,0.999999986072,0.000124330757205,-0.000106589030234,-3.22003271764e-05,1793250362641974016
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.462954726,745.462954726,722,688,665,642,887,787,818,653,632,656,0.407466741352,0.00459230870156,0.0799263644023,0.999999983972,0.000133482348693,-0.000114557241831,-3.33896546662e-05,1793250362658640384
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.95717207,745.95717207,721.95717207,688,665.04282793,641.95717207,886.95717207,787,818,653,632,656,0.408008076863,0.00460018044755,0.0799242520814,0.99999998268,0.000135909764304,-0.000122263953629,-3.49270843163e-05,1793250362675307264
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.379967523,745.379967523,721.379967523,688,665.620032477,641.379967523,886.379967523,787,818,653,632,656,0.408567925692,0.00461369971462,0.0799117741434,0.99999997697,0.00015508087793,-0.000143869566472,-3.62278636467e-05,1793250362691973632
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.200412467,745,721,688.200412467,665.799587533,641.200412467,886.200412467,787,818,653,632,656,0.409156542708,0.00462472337065,0.0799131164604,0.999999974744,0.000170067985076,-0.000142074799026,-3.74708200334e-05,1793250362708640256
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.78690976,745,721,688.78690976,665.21309024,641.78690976,886.78690976,787,818,653,632,656,0.409800580194,0.00463093935313,0.0799410828243,0.99999997906,0.000176994806974,-9.52003409702e-05,-3.86023832589e-05,1793250362725306880
+149,2.483333333,POSE1_TO_POSE2_PRESS,769,745,721,689,665,642,887,787,818,653,632,656,0.410484972825,0.0046350350389,0.0799718640131,0.999999982866,0.00017516739637,-4.51645223985e-05,-3.92897440178e-05,1793250362741973760
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,745,721,689,665,642,887,787,818,653,632,656,0.411192394689,0.00463792074599,0.0800042515222,0.999999985019,0.000168344253914,6.67537142909e-06,-3.97236140213e-05,1793250362758640128
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.476375146,745,721.523624854,689.523624854,665,642,887.523624854,787,818,653,632,656,0.411878229234,0.00462509625265,0.0799865008413,0.999999985459,0.000163909358241,-2.44882640032e-05,-4.01917266188e-05,1793250362775307008
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.099352265,745.099352265,721.900647735,690,665,642,888,787,818,653,632,656,0.412565530706,0.00460876169223,0.0799613006929,0.999999985328,0.000153186294136,-6.50414655856e-05,-4.0592488364e-05,1793250362791974144
+153,2.550000000,POSE1_TO_POSE2_PRESS,768.674371405,745.674371405,721.325628595,690,665,642,888,787,818,653,632,656,0.413270168344,0.00458312750681,0.0799243880878,0.99999998684,0.000111216522386,-0.000110894482016,-4.06544365754e-05,1793250362808640768
+154,2.566666667,POSE1_TO_POSE2_PRESS,768.744401292,746,721.255598708,690.255598708,665.255598708,642,888.255598708,787.255598708,818,653,631.744401292,656,0.414003543843,0.00456855697312,0.0799089952408,0.999999987194,8.97626675367e-05,-0.000125875232328,-4.13638801869e-05,1793250362825307392
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.155067926,746,721.844932074,690.844932074,665.844932074,642,888.844932074,787.844932074,818,653,631.155067926,656,0.414774442401,0.00456843222103,0.0799217006886,0.999999989503,9.50963937436e-05,-0.000100546141045,-4.29187572335e-05,1793250362841973504
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,722,691,666,642,888.57091468,788,818.42908532,653,631,656,0.415580749389,0.00457917342253,0.0799412995573,0.999999991695,9.72217629353e-05,-7.32537255722e-05,-4.23247236552e-05,1793250362858639872
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,721.988766149,691,666,642,888,788,819,653,631,656,0.416399789478,0.00459364013067,0.079962610107,0.99999999322,9.86513722637e-05,-4.63008001684e-05,-4.10313377119e-05,1793250362875306496
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,721.414385526,691,666,642,888,788,819,653,631,656,0.417223314872,0.00460036094823,0.0799463322384,0.999999988993,0.000122633394009,-7.15102803886e-05,-4.31458857978e-05,1793250362891973120
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,721,691.159831465,666,642,888.159831465,788,819,653,631.159831465,656,0.418071898512,0.00460477162946,0.079944495732,0.99999998702,0.000138169190675,-6.94297522334e-05,-4.52737459944e-05,1793250362908640000
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,721,691.733624611,666,642,888.733624611,788,819,653,631.733624611,656,0.418985382677,0.00460319908342,0.0799800621911,0.99999999018,0.000131829358496,3.3315900886e-06,-4.74360842456e-05,1793250362925306880
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,721,692,666.316937808,642,889,787.683062192,819,653,632,656,0.41986022786,0.00459825900501,0.0799900719364,0.999999990776,0.000124313006241,2.57198006031e-05,-4.83017051097e-05,1793250362941973760
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,721,692,666.908500032,642,889,787.091499968,819,653,632,656,0.420701592585,0.00459040098321,0.0799779369643,0.999999992134,0.00011577720821,4.46003750829e-06,-4.80437293681e-05,1793250362958640640
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,745.514099758,721.485900242,692.485900242,666.514099758,642,888.514099758,787.485900242,819,653,632,656,0.421585643,0.00458906820577,0.079969363036,0.999999992782,0.000108832026071,-1.12894366801e-05,-4.96422378491e-05,1793250362975307008
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,745.061104965,721.938895035,693,666,642,888.061104965,788,819,653,631.938895035,656,0.422485112218,0.00459029009571,0.0799654908503,0.999999992964,0.000105122730511,-1.99062229213e-05,-5.12290391523e-05,1793250362991973376
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,745.639661389,721.360338611,693,666,642,888.639661389,788,819,653,631.360338611,656,0.423449009776,0.00460303469137,0.0799959163339,0.999999990503,0.000126351050485,2.33401465594e-05,-4.98400883724e-05,1793250363008639744
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,721,693,666,642,889,787.778271998,819,653,631.221728002,656,0.424364158408,0.00461332392114,0.079999101192,0.999999988547,0.000142616946217,1.52803999365e-05,-4.82972392517e-05,1793250363025306368
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,721,693,666,642,889,787.190408989,819,653,631.809591011,656,0.42519880907,0.00461955865645,0.0799573041559,0.999999984562,0.000150688493167,-7.75001015285e-05,-4.65002605259e-05,1793250363041972992
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746,721,693.391244429,666,642,889,787,819,653,632,656,0.42610337357,0.00461904601273,0.079928893094,0.999999981948,0.000147386541151,-0.000109545645247,-4.88026798589e-05,1793250363058639872
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,721,693.969922973,666,642,889,787,819,653,632,656,0.427041431758,0.00461530089063,0.0799068948754,0.999999982654,0.000138635868112,-0.000112494787098,-5.30690048258e-05,1793250363075306752
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,721,694,666.547613818,642.547613818,889,787,819,653,631.452386182,656,0.427973434923,0.00460461797436,0.0799065023462,0.999999983765,0.000124094075374,-0.000119899392248,-5.19029221301e-05,1793250363091973632
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.124592114,746,721,693.875407886,666.875407886,642.875407886,889,787,819,653,631,656,0.428915414112,0.00459676864604,0.0799133060617,0.999999985367,0.000113449675079,-0.0001174630269,-5.09652354631e-05,1793250363108640256
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.699192351,746,721,693.300807649,666.300807649,642.300807649,889,787,819,653,631,656,0.42989462418,0.00460052763273,0.0799418231938,0.999999988597,0.000118028829293,-7.86002763205e-05,-5.19282032312e-05,1793250363125306624
+173,2.883333333,POSE1_TO_POSE2_PRESS,769,746,721,693,666.281936826,642,889,787,819,653,631,656,0.430865975807,0.0046067376747,0.0799792239907,0.999999990434,0.000125948237417,-2.48985889444e-05,-5.14689044464e-05,1793250363141973504
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721,693,666.87362909,642,889,787,819,653,631,656,0.43182869354,0.00461564061651,0.0800263849988,0.999999988302,0.000137537480585,4.51061856605e-05,-4.94470043532e-05,1793250363158640128
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.546292253,746,721,693.453707747,666.546292253,642,889,787,819,653,631,656,0.432702481371,0.00462183486119,0.0800020460683,0.99999998863,0.000142134900561,9.13203271199e-07,-5.03651650339e-05,1793250363175306496
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,721,694,666,642,889,787,819,653,631.030483309,656,0.433553990601,0.00462694549444,0.0799582103981,0.999999985555,0.000144339294052,-7.30615275429e-05,-5.21325504872e-05,1793250363191973120
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,721,694,666,642,889,787,819,653,631.604599101,656,0.434438897367,0.00462585015085,0.0799129668152,0.999999981192,0.000137730186378,-0.000125068204286,-5.48053542642e-05,1793250363208640000
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.183525043,746,721,694,666.183525043,642,889,787.183525043,819.183525043,653,631.816474957,656,0.435334624849,0.00462372931337,0.0798930803711,0.999999979176,0.000131225083038,-0.000145658633336,-5.66664020145e-05,1793250363225306880
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+180,3.000000000,POSE1_TO_POSE2_PRESS,768.643861075,746,721,694,666.643861075,642,889,787.643861075,820,653,631,656,0.437171578403,0.00461258928488,0.0799665627399,0.999999990029,0.000122242132112,-4.47222138932e-05,-5.47633110403e-05,1793250363258640128
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.064896719,746,721,694,666.064896719,642,889,787.064896719,820,653,631,656,0.438087372951,0.00460436200536,0.0800044876217,0.999999991217,0.000121765972021,9.23827605808e-06,-5.15230316963e-05,1793250363275306752
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.512549201,746,721,694,665.487450799,642,889,787,820,653,631,656,0.438932754041,0.00460966355895,0.0800051572036,0.999999991843,0.000115569512325,1.03323073978e-05,-5.34028237418e-05,1793250363291973120
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.910474248,746,721,694.089525752,665,642,889.089525752,787,820,653,631,656,0.43975030175,0.00461778597806,0.0799886886697,0.999999991864,0.000113920132011,-1.49432943129e-05,-5.54246778239e-05,1793250363308639744
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+191,3.183333333,POSE1_TO_POSE2_PRESS,769,747,721,695,663.277530119,641,890,787,821.722469881,653.277530119,631.277530119,656,0.445529983885,0.00468258977103,0.0798200554649,0.999999938613,0.000200674527998,-0.000282145417412,-5.38249600893e-05,1793250363441973248
+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746.693368008,721,695,663,640.693368008,890,786.693368008,822,653,631,656.306631992,0.44617079201,0.00468784223562,0.0797984755688,0.999999928751,0.000205197697157,-0.000312202988079,-5.40539530108e-05,1793250363458640128
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+196,3.266666667,POSE1_TO_POSE2_PRESS,769,746,721,695,661.371825646,640,890.371825646,786,822,653.628174354,631.628174354,656,0.448419331133,0.00470760041793,0.0796688580537,0.999999853289,0.00022217219115,-0.000490678897203,-5.74091875715e-05,1793250363525307392
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+198,3.300000000,POSE1_TO_POSE2_PRESS,768.203040075,746.796959925,721,695,660.203040075,639.203040075,890.796959925,786,822,653.203040075,632,656.796959925,0.44941939762,0.00471821964878,0.0796208649381,0.999999815282,0.000233054995132,-0.000558374120936,-5.77918595439e-05,1793250363558640896
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+234,3.900000000,POSE1_TO_POSE2_PRESS,769,746,720,695,653,637,891,786,823,653.672915633,631.672915633,656.672915633,0.455147215535,0.00476174433841,0.079494241654,0.999999662635,0.000270880252205,-0.000772513994077,-6.7644450907e-05,1793250364158640640
+235,3.916666667,POSE1_TO_POSE2_PRESS,769,746,720.253943947,695,653,637,891,785.746056053,823.253943947,653.746056053,631.746056053,656.746056053,0.455147615272,0.004761285348,0.0794935147636,0.999999662241,0.00027013756332,-0.000773285627186,-6.76286437105e-05,1793250364175307008
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,746,720.844646179,695,653,637,891,785.155353821,823.844646179,653.155353821,631.155353821,656.155353821,0.455146141685,0.00476072933183,0.0794916208136,0.999999660456,0.000269071202997,-0.000775974408511,-6.74697866717e-05,1793250364191973888
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,746,720.573469396,695,653,637,891,785.426530604,823.573469396,653,631.426530604,656.426530604,0.455146897025,0.00476171673971,0.0794915517251,0.999999660533,0.000269893742823,-0.000775603434934,-6.73154331099e-05,1793250364208640256
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,746,720.005253864,695,653,637,890.994746136,786,823,653.005253864,631.994746136,656.994746136,0.455148436347,0.00476320715054,0.0794921273046,0.99999966127,0.0002713421703,-0.000774158785576,-6.7161830887e-05,1793250364225306880
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,746,720.582398567,695,653,637,890.417601433,786,823,653.582398567,631.417601433,656.417601433,0.455148733692,0.00475949806145,0.0794919918001,0.999999661894,0.000267547749482,-0.000774694781588,-6.69150808515e-05,1793250364241973760
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,746,721,695,653,637,890,786,823,654,631,656,0.455149561306,0.00475717797467,0.0794923459038,0.999999662699,0.000265255741309,-0.000774459161266,-6.67340264458e-05,1793250364258640384
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,746,721,695,653,637,890,786,823,654,631,656,0.455151776888,0.00475849357457,0.0794939815475,0.999999664008,0.000266896269184,-0.000772203850218,-6.6724929087e-05,1793250364275307520
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.311620762,746,721,695,653,637.311620762,890.311620762,786,823,653.688379238,631,656.311620762,0.455151621805,0.00476030325985,0.0794937448323,0.999999662912,0.000269245875242,-0.000772795844839,-6.68448418476e-05,1793250364291973888
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.904026535,746,721,695,653,637.904026535,890.904026535,786,823,653.095973465,631,656.904026535,0.455149330643,0.00476255813931,0.0794918210332,0.999999659642,0.000272234394111,-0.000775953396342,-6.7080998813e-05,1793250364308640000
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,746,720.516157662,695,653,637.516157662,891,786,823,653.483842338,631.483842338,657,0.45514864448,0.00476210482438,0.0794909157322,0.999999658642,0.000271562497331,-0.000777472543441,-6.71212344957e-05,1793250364325306624
+245,4.083333333,POSE1_TO_POSE2_PRESS,769.938741855,746,720,695.061258145,653,637.061258145,891,786,823,653.938741855,632,657,0.45514836205,0.00476108964331,0.0794903027347,0.999999658277,0.000270053509133,-0.000778470035933,-6.70994653487e-05,1793250364341972992
+246,4.100000000,POSE1_TO_POSE2_PRESS,769.361039951,746,720,695.638960049,653,637.638960049,891,786,823,653.361039951,632,657,0.45514886742,0.00475975156444,0.0794904940262,0.999999659558,0.000267453292815,-0.00077774002918,-6.68742817145e-05,1793250364358639616
+247,4.116666667,HOLD_POSE2,770,746,720,695,653,637,891,786,823,654,632,656,0.455151316015,0.00475929031521,0.0794916962861,0.999999661183,0.000264721799544,-0.000776587337579,-6.68443238844e-05,1793250364398034944
+248,4.133333333,HOLD_POSE2,770,746,720,695,652.407778984,637,891,786,823,654,632,656,0.455153340611,0.00476010160703,0.0794932463559,0.999999662575,0.000266953802028,-0.000774074098063,-6.62956771028e-05,1793250364414701824
+249,4.150000000,HOLD_POSE2,769.820488008,746,720,695.179511992,652,637,891,786,823,653.820488008,631.820488008,656,0.455154226792,0.00476004964318,0.0794939375893,0.999999663163,0.000268008834389,-0.000772985040189,-6.58756937807e-05,1793250364431368704
+250,4.166666667,HOLD_POSE2,769.244096643,746,720,695.755903357,652,637,891,786,823,653.244096643,631.244096643,656,0.455152596076,0.00475808912527,0.0794927300391,0.999999661991,0.000266461728127,-0.00077504467577,-6.57401697525e-05,1793250364448035072
+251,4.183333333,HOLD_POSE2,769,746,720,695.667262088,652.332737912,637,891,785.667262088,823,653.332737912,631.332737912,656,0.455152150818,0.0047570689132,0.0794918324053,0.999999661722,0.00026477426751,-0.000775969304586,-6.57402089926e-05,1793250364464701184
+252,4.200000000,HOLD_POSE2,769,746,720,695.09010201,652.90989799,637,891,785.09010201,823,653.90989799,631.90989799,656,0.455152576372,0.00475673942984,0.0794911624298,0.999999662118,0.00026298370567,-0.00077606018154,-6.58398301237e-05,1793250364481367552
+253,4.216666667,HOLD_POSE2,769,746,720,695,652.504449068,637,891,785,823,654,632,656.495550932,0.45515259556,0.00475671778985,0.0794916634473,0.999999662333,0.00026362403442,-0.000775579674778,-6.56760481205e-05,1793250364498034432
+254,4.233333333,HOLD_POSE2,769.081779634,746,720,695,652.081779634,637.081779634,891,785.081779634,823,654,631.918220366,657,0.455152460208,0.0047570223374,0.0794921289023,0.999999662301,0.000264755695247,-0.000775243199648,-6.55697759123e-05,1793250364514701312
+255,4.250000000,HOLD_POSE2,769.661942424,746,720,695,652.661942424,637.661942424,891,785.661942424,823,654,631.338057576,657,0.455151841181,0.00475896768612,0.0794910574716,0.999999660978,0.000266141094734,-0.000776428654047,-6.61109376212e-05,1793250364531367936
+256,4.266666667,HOLD_POSE2,769.76025338,746,720,695,653,637.76025338,891,786,823,654,631.23974662,657,0.455152172356,0.00475877826823,0.0794909402156,0.999999661132,0.000265338030687,-0.000776500719149,-6.6172184709e-05,1793250364548034560
+257,4.283333333,HOLD_POSE2,769.185742596,746,720,695,653,637.185742596,891,786,823,654,631.814257404,657,0.455153830319,0.00475560802249,0.0794921552974,0.999999663338,0.000261479160502,-0.000775018130996,-6.5563315038e-05,1793250364564701184
+258,4.300000000,HOLD_POSE2,769,746.387132161,720,695,652.612867839,637,891,785.612867839,823,653.612867839,632,656.612867839,0.455154300876,0.0047550491459,0.0794926450001,0.999999663812,0.000261107678474,-0.000774568830551,-6.5124203474e-05,1793250364581367808
+259,4.316666667,HOLD_POSE2,769,746.95922532,720,695,652.04077468,637,891,785.04077468,823,653.04077468,632,656.04077468,0.455154204123,0.00475573790871,0.0794927881369,0.999999663462,0.000262402373349,-0.000774613206156,-6.47661975667e-05,1793250364598034432
+260,4.333333333,HOLD_POSE2,769,746.445792128,720.554207872,695,652.554207872,637,891,785.554207872,823,653.554207872,632,656.554207872,0.455155135651,0.00475752256168,0.0794934297608,0.999999663949,0.000263602433737,-0.000773525077171,-6.53769920855e-05,1793250364614701056
+261,4.350000000,HOLD_POSE2,769.145625661,746,721,695,652.854374339,637,891,786,823,653.854374339,631.854374339,657,0.455155866233,0.0047585212869,0.0794940157294,0.999999664535,0.000264080470855,-0.000772560180328,-6.58938771598e-05,1793250364631367424
+262,4.366666667,HOLD_POSE2,769.721328028,746,721,695,652.278671972,637,891,786,823,653.278671972,631.278671972,657,0.455155770304,0.00475695055321,0.0794943243522,0.99999966523,0.000262447603053,-0.000772215900104,-6.59138468331e-05,1793250364648034048
+263,4.383333333,HOLD_POSE2,769.70294894,746,720.70294894,695,652.29705106,637,891,785.70294894,823,653,631.29705106,657,0.455154717716,0.0047567626085,0.0794934022403,0.999999664193,0.00026312035723,-0.000773341325407,-6.57690561655e-05,1793250364664700672
+264,4.400000000,HOLD_POSE2,769.127206554,746,720.127206554,695,652.872793446,637,891,785.127206554,823,653,631.872793446,657,0.455152767598,0.00475787198728,0.0794913254613,0.999999661522,0.000265956230681,-0.000775845618657,-6.5469688442e-05,1793250364681367296
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,747,721,695,652,637,891,785,823,653,631,657,0.455157069737,0.004755854385,0.0794945110738,0.999999665364,0.000263256199455,-0.000771860631124,-6.48042128933e-05,1793250364713358080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769.421341513,746.421341513,721,695,652,637,891,785.578658487,823,653,631,656.421341513,0.455156626218,0.00475774171162,0.0794944342514,0.999999664929,0.000264341419012,-0.000771995693053,-6.54901357714e-05,1793250364730024704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,746,720.843959689,695.156040311,652,637,891,785.843959689,823,653.156040311,631,656.156040311,0.455156481386,0.00475874022322,0.0794943643094,0.999999664748,0.000264741168354,-0.000772059551742,-6.58749568328e-05,1793250364746691584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,746,720.269997025,695.730002975,652,637,891,785.269997025,823,653.730002975,631,656.730002975,0.455157136526,0.0047573582243,0.0794943127953,0.999999665253,0.000263305024863,-0.000771932707013,-6.54533378424e-05,1793250364763358208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,746,720.304740169,695.695259831,652.304740169,637,891,785,823,654,631.304740169,657,0.455157014496,0.0047566274134,0.0794937126959,0.999999664816,0.000262324147208,-0.000772839622349,-6.53675941482e-05,1793250364780024832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,746,720.880165305,695.119834695,652.880165305,637,891,785,823,654,631.880165305,657,0.455156202147,0.0047564750193,0.0794926253166,0.999999663541,0.000261747658787,-0.000774664773407,-6.55801911718e-05,1793250364796691456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769,746.467984812,720.532015188,695,652.532015188,637,891,785,823,653.532015188,632,657,0.455155640269,0.00475685619494,0.0794927208351,0.999999663373,0.000263477211003,-0.000774308848624,-6.54130546901e-05,1793250364813358080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769,746.942780166,720,695,652.057219834,637,890.942780166,785.057219834,823,653.057219834,631.942780166,656.942780166,0.455155088185,0.00475738462793,0.0794930020599,0.999999663497,0.000265357389509,-0.0007735206515,-6.52489995353e-05,1793250364830024704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769,746.370160057,720,695,652.629839943,637,890.370160057,785.629839943,823,653.629839943,631.370160057,656.370160057,0.455154030902,0.00475797531665,0.079492153461,0.999999663659,0.000263130789565,-0.000774006273009,-6.60123725434e-05,1793250364846691328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,652.794537129,637,890.205462871,786,823,654,631,656.205462871,0.455147912444,0.00475814915372,0.0794889202934,0.999999660312,0.00026252568274,-0.000778498681023,-6.63058823699e-05,1793250364863358464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,652.213424176,637,890.786575824,786,823,654,631,656.786575824,0.455132540586,0.00475756085617,0.0794813273922,0.999999650457,0.000264885170279,-0.000790316741842,-6.5740335956e-05,1793250364880025088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769.373294102,746,720.373294102,695,652.373294102,637,890.626705898,786,823,653.626705898,631,657,0.455099447707,0.00475708367523,0.0794669711584,0.999999630935,0.000265057068804,-0.000814624327019,-6.52851825663e-05,1793250364896691712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.963266035,746,720.963266035,695,652.963266035,637,890.036733965,786,823,653.036733965,631,657,0.455056068694,0.00475667099166,0.0794486891608,0.999999605046,0.000263959185591,-0.000846181432682,-6.48941064886e-05,1793250364913358336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.457050554,746,720.457050554,695,652.457050554,637,890,786,823,653,631,657,0.454994679091,0.00475652902537,0.0794320318365,0.999999578608,0.000265482100541,-0.000876505404604,-6.35789800753e-05,1793250364930024960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.116204238,746,720,695,652,637,890.116204238,786,823,653.116204238,631.116204238,657,0.454930156378,0.0047562460756,0.0794176028671,0.999999555881,0.000266529135717,-0.000901841556756,-6.23067450571e-05,1793250364946691584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.667925927,746,720,695,652,637,890.667925927,786,823,653.667925927,631.667925927,657,0.454858373138,0.00475536737089,0.0794111211582,0.999999550013,0.000265140452087,-0.000908790926203,-6.1425211722e-05,1793250364963358208
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769.76117479,746,720.23882521,695,652.23882521,637,890.76117479,786,823,654,631.76117479,656.76117479,0.454779379641,0.00475440606442,0.079406742548,0.99999954507,0.000265708132762,-0.000914154771739,-5.9827004565e-05,1793250364980024832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769.161281914,746,720.838718086,695,652.838718086,637,890.161281914,786,823,654,631.161281914,656.161281914,0.454689485324,0.00475331987661,0.0794055435059,0.999999541568,0.000269233541036,-0.000917121544083,-5.71452948301e-05,1793250364996691456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.431905984,746,720.568094016,695,652.568094016,637.431905984,890.431905984,786,823,653.568094016,631,656.431905984,0.4545852013,0.00475318396524,0.0794094990614,0.99999954466,0.000271958103872,-0.000913105848168,-5.43717657377e-05,1793250365013358080
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,746,720,695,652.600842689,637.399157311,891,786,823,653.600842689,631,657,0.45433474984,0.00475000582192,0.0794154381988,0.999999551439,0.000274069407003,-0.000905398877226,-4.75432242359e-05,1793250365046691328
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,769.249237292,746,720.750762708,695,653,637,891,786,823,654,631.750762708,656.249237292,0.454001444996,0.00474795596208,0.0794047620469,0.999999533887,0.000281034499081,-0.000922863383012,-3.96073177621e-05,1793250365080026112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,746,721,695,653.326128969,637,891,786,823,654,632,656.326128969,0.453808158465,0.00474730876521,0.0794004549956,0.999999526523,0.000286677535293,-0.00092927616802,-3.48690517197e-05,1793250365096692480
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,746,721,695,653.903313926,637,891,786,823,654,632,656.903313926,0.453605283161,0.00474604708782,0.0793992268964,0.999999524501,0.000292484265488,-0.000929827442228,-2.95343451371e-05,1793250365113358592
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769.4943875,746.4943875,721,695,653.5056125,637,891,786,822.5056125,654,632,656.5056125,0.453373639158,0.00474419482713,0.079404459944,0.999999531032,0.000295563580158,-0.000921961067872,-2.38033638555e-05,1793250365130025216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769.914225585,746.914225585,721,695,653.085774415,637.085774415,891,786,822.085774415,653.914225585,632,656,0.453131578735,0.0047421116813,0.079411617571,0.999999539976,0.00029898751297,-0.000911230971916,-1.76869573297e-05,1793250365146691840
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769.33705384,746.33705384,721,695,653.66294616,637.66294616,891,786,822.66294616,653.33705384,632,656,0.452863007059,0.00473938661807,0.0794223527364,0.999999553227,0.000307529858065,-0.000893798454711,-9.81928422317e-06,1793250365163358464
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,746,721,695,654,638,890.761582228,786,822.761582228,653.238417772,631.761582228,656.238417772,0.452577121366,0.00473637291063,0.0794321028274,0.999999563593,0.000314770203085,-0.000879619092545,-2.12632573974e-06,1793250365180025344
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746,721,695,654,638,890.188497129,786,822.188497129,653.811502871,631.188497129,656.811502871,0.452266931983,0.00473295403311,0.0794404701677,0.999999570272,0.000320182928559,-0.00087000618957,5.32138513185e-06,1793250365196691968
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769.396660016,746,720.603339984,695,654.396660016,638,890.396660016,786,822,654,631,656.603339984,0.451936216452,0.00473092276562,0.0794497643366,0.999999580629,0.000325331326015,-0.000856010555544,1.21373730633e-05,1793250365213358336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769.987733986,746,720.012266014,695,654.987733986,638,890.987733986,786,822,654,631,656.012266014,0.451595440502,0.00472957160396,0.0794595127696,0.999999592572,0.000330350168827,-0.000839866824912,1.86437360324e-05,1793250365230024960
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,768.865965488,746,720.865965488,695,656,638,890,786,820.134034512,654,632,656,0.449510021619,0.00470370836745,0.0795566030934,0.999999745738,0.000236411774186,-0.000672547314413,1.77279126013e-05,1793250365313358592
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,746,720.545501858,695,656.908996284,638,890,786,820,653.545501858,632,656.454498142,0.448994420924,0.00469970548267,0.079558977378,0.999999745972,0.000228583611668,-0.000674772931442,2.20679045878e-05,1793250365330025216
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,746.625010813,720.625010813,694.374989187,658,638.625010813,890.625010813,786,820,653,632,656.374989187,0.447840799059,0.00470360035343,0.0795245069096,0.9999996833,0.000301795662587,-0.000736161895587,1.96409350682e-05,1793250365363358464
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,769,746.223536003,721,694.776463997,658.776463997,639,890.223536003,786,819.223536003,653,631.223536003,656.776463997,0.446674507255,0.00470983243619,0.0795330180014,0.999999681457,0.000355724141887,-0.000714295224392,1.81420462993e-05,1793250365396691712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,769,746,720.649859257,694.649859257,659.350140743,639,890,786,819,653.350140743,631,656.649859257,0.446085426466,0.004702754666,0.0795711125756,0.999999728129,0.000333528416256,-0.000657336401692,2.02216615247e-05,1793250365413358336
+308,5.133333333,POSE2_TO_POSE3_RETREAT,769,746,720.076493635,694.076493635,659.923506365,639,890,786,819,653.923506365,631,656.076493635,0.445482379567,0.0046901407274,0.0796203817706,0.999999782993,0.000294844227841,-0.000588695061655,2.278082997e-05,1793250365430024960
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,721,693,664,641.544134518,888.544134518,787.544134518,819,653,631.544134518,656,0.428909976032,0.00448942797493,0.0798107813903,0.999999949606,8.11519215163e-05,-0.000303079349653,4.84260125073e-05,1793250365763358464
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,745.600316435,721,689.600316435,664,641,887,787,819,653,631.399683565,656,0.413948952931,0.00449786110857,0.0797729184135,0.999999927073,0.000111283029942,-0.000361701821576,5.14059004443e-05,1793250366046691840
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745.023289044,721,689.023289044,664,641,887,787,819,653,631.976710956,656,0.413214810734,0.00449621695763,0.0797924744016,0.999999942575,0.000100309578386,-0.000319919430046,4.93979623526e-05,1793250366063358464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745,721,689.568885056,664,641,886.431114944,787,819,653,631.431114944,656,0.41249748431,0.0044843684782,0.0797954974306,0.999999944178,8.34033598188e-05,-0.000319532010593,5.08719116141e-05,1793250366080024832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.157926231,745,721,689.842073769,664,641,886.315852462,787.157926231,819,653,631,656,0.411788908559,0.0044755097074,0.0797937667103,0.999999942226,7.55187302393e-05,-0.000327313254876,5.20585681076e-05,1793250366096691712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.736916043,745,721,689.263083957,664,641,887.473832087,787.736916043,819,653,631,656,0.411101778102,0.00447576636817,0.0797812154444,0.999999932345,9.23527651864e-05,-0.000352232007502,5.20888029682e-05,1793250366113358336
+350,5.833333333,POSE2_TO_POSE3_RETREAT,769,745.312407474,721,689,664,641,887.375185051,787.687592526,819,653,631.312407474,656,0.410434802346,0.00448102719381,0.0797810171809,0.999999930861,0.000101659353734,-0.000353844411054,5.23174184193e-05,1793250366130025216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,769,745.884985445,721,689,664,641,886.230029109,787.115014555,819,653,631.884985445,656,0.40978461131,0.00449045544874,0.0797911064017,0.999999936666,0.000104697142917,-0.000336047468319,5.27112436856e-05,1793250366146692096
+352,5.866666667,POSE2_TO_POSE3_RETREAT,769,746,721,689,664,641,886,787,819,653,632,656,0.409196213971,0.00449657984131,0.0798174147314,0.999999949609,0.000116725815881,-0.00029033488315,5.35015462775e-05,1793250366163358976
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.942243819,745.942243819,721,688.942243819,664,641,886,787,819,653,632,656,0.408621002017,0.00450070981418,0.0798431098832,0.999999959898,0.000128574633114,-0.000246399430304,5.44093954097e-05,1793250366180025856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.363605878,745.363605878,721,688.363605878,664,641,886,787,819,653,632,656,0.408024620856,0.00449434254464,0.079826507082,0.999999951751,0.000118419505772,-0.000281774684018,5.5478560008e-05,1793250366196692480
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.21359921,745,721.21359921,688,664,641,886,787,819,653,632,656,0.407443004185,0.00448882272778,0.0798019589408,0.999999938932,0.000109445706147,-0.000327266845836,5.52557763084e-05,1793250366213359104
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.788381374,745,721.788381374,688,664,641,886,787,819,653,632,656,0.40688635341,0.00448473590124,0.0797639757264,0.999999917356,0.000102469459022,-0.000389866064954,5.28483883858e-05,1793250366230025472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745,721.636644145,687.636644145,664,641,886,787,819,653,632,656,0.406395166912,0.0044829434272,0.0797583940966,0.999999916073,0.000102218363001,-0.000393343698167,5.18300224252e-05,1793250366246691840
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745,721.061557545,687.061557545,664,641,886,787,819,653,632,656,0.405942126988,0.00448248789273,0.0797716931598,0.999999927405,0.000105886072804,-0.00036237065453,5.16210519442e-05,1793250366263358464
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745,721,687,664,641,886,787,819,653,632,656,0.405526672622,0.00449093847321,0.0797928278404,0.999999940197,0.000111428170267,-0.000323334227858,5.14261392882e-05,1793250366280025088
+360,6.000000000,POSE2_TO_POSE3_RETREAT,769,745.116636983,721,687,664,641,886,787,818.883363017,653,632,656,0.4051198074,0.00449911523798,0.0798125067601,0.999999949654,0.000118453345542,-0.000289874316527,5.1310096414e-05,1793250366296691968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,769,745.694652258,721,687,664,641,886,787,818.305347742,653,632,656,0.404729095871,0.00450198583659,0.0798227117246,0.999999950319,0.000130456315969,-0.000282296732653,5.14993713209e-05,1793250366313358848
+362,6.033333333,POSE2_TO_POSE3_RETREAT,769,745.728984232,721.271015768,686.728984232,664.271015768,641,886,787,818.271015768,653,632,656,0.404353900151,0.00450276808714,0.0798295196388,0.999999949778,0.000137522873337,-0.000280626222965,5.27309683688e-05,1793250366330025472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,769,745.154470492,721.845529508,686.154470492,664.845529508,641,886,787,818.845529508,653,632,656,0.403996079888,0.00450121169349,0.0798325233533,0.999999948036,0.000139061370281,-0.000285570771814,5.51298135702e-05,1793250366346692096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768.57997483,745,721.57997483,686.42002517,665,641,886,787,819,653,632,656,0.403671421353,0.00449870692489,0.0798341500025,0.999999948402,0.000133625243678,-0.000286705457879,5.60470171915e-05,1793250366363358464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768.00548583,745,721.00548583,686.99451417,665,641,886,787,819,653,632,656,0.403358958018,0.00449585339239,0.0798352702372,0.999999949494,0.000125624206281,-0.000286439070635,5.64193485651e-05,1793250366380025088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,721,686.40982275,664.40982275,641,886,787,819,653,632,656,0.403078616659,0.00448950802266,0.0798324505474,0.999999950632,0.00010208578918,-0.000292380466804,5.31888777398e-05,1793250366396691968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745.179153563,721,686,664.179153563,641,886.179153563,787,819,653,632,656,0.402813805816,0.00447957070535,0.0798301608884,0.999999951322,7.98903381349e-05,-0.00029701694148,5.24788904154e-05,1793250366413358592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745.75295036,721,686,664.75295036,641,886.75295036,787,819,653,632,656,0.402582523761,0.00446179512978,0.0798291224675,0.999999951898,6.09831819158e-05,-0.00029864706828,5.73975926973e-05,1793250366430024960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745.673173744,721,685.673173744,664.673173744,641.326826256,886.673173744,787,818.673173744,653,631.673173744,656,0.402375087724,0.00445058289229,0.0798293372707,0.999999952906,4.78320449688e-05,-0.000297119829042,6.01671080284e-05,1793250366446691840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745.09923798,721,685.09923798,664.09923798,641.90076202,886.09923798,787,818.09923798,653,631.09923798,656,0.402185681359,0.00444433311604,0.079830499622,0.999999954374,3.90329648435e-05,-0.000293205342503,6.1311648785e-05,1793250366463358720
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.490693117,745,721,685.490693117,664,641.509306883,886,787,818,653,631.490693117,656,0.402022170052,0.00444809907842,0.0798368232079,0.999999957069,4.33534257145e-05,-0.000283077799978,6.204718314e-05,1793250366480025344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664.081713921,641,886,787,818,653,632,656,0.401867590274,0.00445405132967,0.0798435619374,0.999999959112,5.89226208065e-05,-0.000272714887856,6.26957577146e-05,1793250366496691968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664.659062171,641,886,787,818,653,632,656,0.401734349017,0.00446056432446,0.0798462741689,0.999999953918,0.000126084977868,-0.000268802618438,6.33355076813e-05,1793250366513358592
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768.76434777,745,721,686,664.76434777,641,886,787,818,653,632,656,0.40160769691,0.00447036189972,0.0798450864485,0.999999947825,0.00016385691997,-0.000271560936174,6.12905725417e-05,1793250366530025216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768.188851164,745,721,686,664.188851164,641,886,787,818,653,632,656,0.401490547312,0.00448489631154,0.0798382744372,0.999999945477,0.000159243657405,-0.000283939200634,5.5373936013e-05,1793250366546691840
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818,653,632,656,0.4013915943,0.00448810156301,0.0798329202981,0.999999945344,0.000146066559966,-0.000292048276682,5.18024658394e-05,1793250366563358464
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818,653,632,656,0.401301529139,0.00448577325619,0.079828278235,0.999999946075,0.000128706586373,-0.000298072131474,4.93764570392e-05,1793250366580025344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745,721,685.45057113,664,641,886,787,818.54942887,653,632,656,0.401230469648,0.00448246439699,0.0798249261303,0.999999945782,0.000119906250639,-0.000302570549157,5.00957108137e-05,1793250366596692224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768.140507601,745,721,685.140507601,664.140507601,641,886,787,819,653,632,656,0.40116612449,0.00448060354934,0.0798218997579,0.999999945091,0.000114757215443,-0.000306681726414,5.0941307652e-05,1793250366613359104
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768.720458453,745,721,685.720458453,664.720458453,641,886,787,819,653,632,656,0.401117887798,0.0044835237517,0.0798195601709,0.999999943579,0.000118825045784,-0.000309974346845,5.13726491208e-05,1793250366630025728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.703059537,745,721,686,665,641,886,787,818.703059537,653,632,656,0.401078673045,0.00448304467589,0.0798190225693,0.999999943327,0.000118535844933,-0.000310779246791,5.20688744108e-05,1793250366646692096
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.129805339,745,721,686,665,641,886,787,818.129805339,653,632,656,0.401047853523,0.00447940245035,0.0798201617795,0.999999944251,0.000114192271006,-0.000309269234124,5.30115836319e-05,1793250366663358464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,768.439961689,745,721,686,664.560038311,641,886,787,818.439961689,653,632,656,0.40102438572,0.00448056900091,0.0798200218466,0.99999994421,0.00011510546016,-0.000309025872514,5.323384512e-05,1793250366680025088
+384,6.400000000,POSE2_TO_POSE3_RETREAT,768.990791361,745,721,686,664,641,886,787,819,653,632,656,0.401003238998,0.00448308563563,0.0798195345978,0.999999943907,0.000117448616478,-0.000309122285923,5.32400733771e-05,1793250366696691712
+385,6.416666667,POSE2_TO_POSE3_RETREAT,768.38934174,745,721,686,664,641,886,787,819,653,632,656,0.400992967823,0.00448190232876,0.079820791018,0.999999945045,0.000112795710853,-0.000307225222264,5.29153815046e-05,1793250366713358336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768,745,721,685.796922124,664.203077876,641,886,787,818.796922124,653,632,656,0.400984236367,0.00448051663546,0.0798221204117,0.999999946022,0.000109537781272,-0.000305226517124,5.28544266029e-05,1793250366730025216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768,745,721,685.22107787,664.77892213,641,886,787,818.22107787,653,632,656,0.400978331194,0.00447875944508,0.0798235837544,0.999999946741,0.000108840446841,-0.000303041240696,5.3277582927e-05,1793250366746692352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.35086791,745,721,685.35086791,664.64913209,641,886,787,818.35086791,653,632,656,0.400975903244,0.0044789768043,0.07982505024,0.999999947431,0.000109950654598,-0.000300334986422,5.33604697508e-05,1793250366763359232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.920384279,745,721,685.920384279,664.079615721,641,886,787,818.920384279,653,632,656,0.400975642177,0.00448042463297,0.0798265186842,0.999999948095,0.000112187258668,-0.000297304077281,5.32313126544e-05,1793250366780025600
+390,6.500000000,POSE2_TO_POSE3_RETREAT,769,745,720.487850494,686,664.512149506,641,886,787,818.487850494,653,631.487850494,656,0.400975414608,0.00448134981452,0.0798281006664,0.999999948853,0.000112139344041,-0.000294826295241,5.28806629024e-05,1793250366796691968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768.895607571,745,720.104392429,686,664.895607571,641,886,787,818,653,631.208784858,656,0.400974785097,0.00448178297285,0.0798292161261,0.999999949441,0.000111524633342,-0.000293104906366,5.2624308147e-05,1793250366813358592
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768.317601737,745,720.682398263,686,664.317601737,641,886,787,818,653,632.364796525,656,0.400972307335,0.00448036924161,0.0798281313278,0.999999949207,0.000110022832423,-0.00029440734293,5.29590634484e-05,1793250366830025472
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.259209683,745,721,686,664.259209683,641,886.259209683,787,818.259209683,653,632.740790317,656,0.400971324398,0.00447983968797,0.0798281896345,0.999999949323,0.000109605970498,-0.00029416550205,5.29890594977e-05,1793250366846692352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.834564414,745,721,686,664.834564414,641,886.834564414,787,818.834564414,653,632.165435586,656,0.400972164621,0.00448038852121,0.0798296421289,0.999999949864,0.000110512354046,-0.000292040183604,5.26473560185e-05,1793250366863358464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.590469128,745,720.590469128,685.590469128,665,641,886.590469128,787,819,653,632,656,0.400971102434,0.00448057495126,0.0798292692745,0.999999949901,0.000109734399592,-0.00029226865971,5.22952137871e-05,1793250366880025344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768.015659404,745,720.015659404,685.015659404,665,641,886.015659404,787,819,653,632,656,0.400969272469,0.00448061512226,0.0798281597439,0.999999949734,0.00010827667838,-0.000293447082547,5.19388586946e-05,1793250366896691968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,745,720,685.578968686,664.421031314,641,886,787,819,653,632,656,0.400969929115,0.00448150887584,0.0798286765937,0.99999994942,0.000110673493811,-0.000293601227006,5.20467610292e-05,1793250366913358336
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.167383091,745,720.167383091,685.832616909,664,641,886,787,819,653,632,656,0.40097097756,0.00448216421889,0.0798297295484,0.99999994959,0.000112018974189,-0.00029250619284,5.20816832295e-05,1793250366930024960
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768.73943335,745,720.73943335,685.26056665,664,641,886,787,819,653,632,656,0.400972804858,0.00448218538454,0.079831968479,0.999999950936,0.000110561756659,-0.000288460481664,5.1908734424e-05,1793250366946691584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,769,745,721,685,664,641,886,787,819,653,632,656.314983341,0.400973260101,0.00448255179771,0.0798324889054,0.99999995132,0.000110281259824,-0.000287259187655,5.17755066259e-05,1793250366963358208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,769,745,721,685,664,641,886,787,819,653,632,656.893460948,0.400972567575,0.00448320702215,0.0798315717445,0.999999950908,0.000110985129899,-0.00028843734544,5.16755068093e-05,1793250366980024832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,769,745,721,685,664.481022317,641,886,787,818.518977683,653,632,656.518977683,0.400972340942,0.00448375476799,0.0798311082296,0.99999995045,0.000113652827267,-0.000288978957321,5.17127440868e-05,1793250366996691456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,769,745,721,685.068669147,665,641,886,787,818,653,632,656,0.400972327029,0.00448421800401,0.079830903173,0.99999995009,0.000116326568549,-0.000289144894244,5.18036288919e-05,1793250367013358592
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..088105341f7ac9aed6806188238feafe4f067583
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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+232,3.866666667,pose1_to_pose2_press,0.621541698562,0.0101500649632,1.0700334202,0.592112378413,0.0188227057699,1.06970481245
+233,3.883333333,pose1_to_pose2_press,0.621542545305,0.0101500933436,1.07003339833,0.592113224716,0.0188227326076,1.06970478908
+234,3.900000000,pose1_to_pose2_press,0.62154294694,0.0101501026082,1.07003339655,0.592113626132,0.0188227411111,1.06970478682
+235,3.916666667,pose1_to_pose2_press,0.62154328749,0.0101500997064,1.07003341707,0.592113966468,0.0188227374886,1.06970480751
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+240,4.000000000,pose1_to_pose2_press,0.62154526377,0.0101500969501,1.07003340512,0.592115942361,0.0188227336504,1.06970480168
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+242,4.033333333,pose1_to_pose2_press,0.621545351574,0.0101500989622,1.07003338473,0.592116030277,0.0188227360845,1.06970478234
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+265,4.416666667,pose2_to_pose3_retreat,0.621546010227,0.01015019454,1.07003361254,0.592116686213,0.018822822302,1.06970500597
+266,4.433333333,pose2_to_pose3_retreat,0.621546005606,0.0101501870303,1.07003360339,0.592116681726,0.0188228152509,1.06970499688
+267,4.450000000,pose2_to_pose3_retreat,0.621546001784,0.0101501808191,1.07003359581,0.592116678015,0.0188228094189,1.06970498936
+268,4.466666667,pose2_to_pose3_retreat,0.621545941757,0.0101500832685,1.07003347688,0.592116619735,0.0188227178251,1.06970487128
+269,4.483333333,pose2_to_pose3_retreat,0.62154587035,0.0101499990895,1.07003336242,0.59211654988,0.0188226389387,1.06970475747
+270,4.500000000,pose2_to_pose3_retreat,0.621545748986,0.0101500511822,1.07003333337,0.592116427944,0.0188226890424,1.06970472723
+271,4.516666667,pose2_to_pose3_retreat,0.62154547845,0.0101501673034,1.07003326861,0.592116156132,0.01882280073,1.06970465984
+272,4.533333333,pose2_to_pose3_retreat,0.621544529022,0.0101500639599,1.07003332622,0.592115207877,0.0188227017175,1.06970472661
+273,4.550000000,pose2_to_pose3_retreat,0.621541484211,0.0101501299526,1.07003336292,0.592112162362,0.018822765137,1.06970475867
+274,4.566666667,pose2_to_pose3_retreat,0.621533346387,0.0101500847619,1.07003348202,0.592104025159,0.0188227220544,1.06970487794
+275,4.583333333,pose2_to_pose3_retreat,0.621518252357,0.0101501144702,1.0700334926,0.592088930424,0.0188227493627,1.06970488784
+276,4.600000000,pose2_to_pose3_retreat,0.621492957966,0.010150197762,1.07003355813,0.592063635551,0.0188228307872,1.06970494747
+277,4.616666667,pose2_to_pose3_retreat,0.621457749318,0.0101501774294,1.07003343862,0.592028427664,0.0188228131954,1.06970483341
+278,4.633333333,pose2_to_pose3_retreat,0.621412933154,0.0101502341676,1.0700336008,0.591983610022,0.0188228648132,1.06970499146
+279,4.650000000,pose2_to_pose3_retreat,0.621360229473,0.0101501674916,1.07003362728,0.591930907736,0.0188228026296,1.06970501751
+280,4.666666667,pose2_to_pose3_retreat,0.621299520051,0.0101501741293,1.07003350843,0.591870196721,0.0188228042247,1.06970490361
+281,4.683333333,pose2_to_pose3_retreat,0.621231473204,0.0101501944607,1.07003350639,0.591802150359,0.018822825908,1.0697048973
+282,4.700000000,pose2_to_pose3_retreat,0.621155478424,0.0101502386009,1.07003355885,0.591726154904,0.0188228676733,1.06970495374
+283,4.716666667,pose2_to_pose3_retreat,0.621067975531,0.0101501760516,1.07003359812,0.591638653038,0.0188228086868,1.06970499518
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+286,4.766666667,pose2_to_pose3_retreat,0.620722081244,0.0101500146363,1.07003361368,0.59129276195,0.0188226577964,1.0697050028
+287,4.783333333,pose2_to_pose3_retreat,0.62057586244,0.0101501697205,1.07003348423,0.591146539366,0.0188228001702,1.06970487852
+288,4.800000000,pose2_to_pose3_retreat,0.62041398199,0.0101502837369,1.07003345305,0.590984657991,0.0188229112714,1.06970485523
+289,4.816666667,pose2_to_pose3_retreat,0.620236968421,0.0101501369614,1.07003336221,0.590807645855,0.0188227692937,1.06970476501
+290,4.833333333,pose2_to_pose3_retreat,0.620044998221,0.0101501463735,1.07003336499,0.590615675587,0.0188227781161,1.06970476058
+291,4.850000000,pose2_to_pose3_retreat,0.61983729654,0.0101501406788,1.0700334881,0.590407974002,0.018822772503,1.06970488001
+292,4.866666667,pose2_to_pose3_retreat,0.619611349923,0.0101501048138,1.07003360942,0.590182028027,0.0188227387749,1.06970500322
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+296,4.933333333,pose2_to_pose3_retreat,0.618530197245,0.0101502853431,1.07003365837,0.589100874675,0.018822916684,1.0697050548
+297,4.950000000,pose2_to_pose3_retreat,0.618216363118,0.0101502694741,1.07003375295,0.588787040121,0.01882289902,1.06970514359
+298,4.966666667,pose2_to_pose3_retreat,0.617884869798,0.0101502106645,1.07003360435,0.588455547583,0.0188228428377,1.06970499698
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+300,5.000000000,pose2_to_pose3_retreat,0.617157445221,0.0101501855677,1.0700335983,0.587728122911,0.0188228173227,1.0697049953
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+304,5.066666667,pose2_to_pose3_retreat,0.61537942745,0.0101502251492,1.0700335597,0.585950103664,0.0188228511859,1.0697049485
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+322,5.366666667,pose2_to_pose3_retreat,0.604059494721,0.0101502368121,1.07003361569,0.574630172048,0.0188228666935,1.06970501015
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+335,5.583333333,pose2_to_pose3_retreat,0.593788743903,0.0101500931524,1.07003357489,0.564359422685,0.0188227278769,1.06970496615
+336,5.600000000,pose2_to_pose3_retreat,0.593055185097,0.0101500601897,1.07003364016,0.56362586379,0.0188226945192,1.06970502884
+337,5.616666667,pose2_to_pose3_retreat,0.592327000838,0.010149994992,1.0700335353,0.562897680371,0.0188226323556,1.06970492877
+338,5.633333333,pose2_to_pose3_retreat,0.591592814259,0.0101499564935,1.07003326391,0.562163494245,0.0188225952243,1.06970465295
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+348,5.800000000,pose2_to_pose3_retreat,0.584818483771,0.0101501989754,1.07003362438,0.555389161938,0.018822831726,1.06970501819
+349,5.816666667,pose2_to_pose3_retreat,0.58423701596,0.0101501299884,1.07003344929,0.554807694635,0.0188227643773,1.0697048408
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+359,5.983333333,pose2_to_pose3_retreat,0.57951061623,0.0101502128903,1.07003348686,0.550081293756,0.0188228435638,1.06970488328
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+362,6.033333333,pose2_to_pose3_retreat,0.578521973387,0.0101501956057,1.07003350702,0.549092649665,0.0188228217913,1.06970489672
+363,6.050000000,pose2_to_pose3_retreat,0.578224241371,0.0101500185846,1.07003361186,0.548794921624,0.0188226583586,1.06970500415
+364,6.066666667,pose2_to_pose3_retreat,0.57794521176,0.0101502044752,1.07003350921,0.54851588898,0.018822834052,1.06970490416
+365,6.083333333,pose2_to_pose3_retreat,0.57768507565,0.0101502306109,1.07003370775,0.548255752563,0.0188228586619,1.06970509003
+366,6.100000000,pose2_to_pose3_retreat,0.577446377528,0.0101501801873,1.07003369152,0.548017056758,0.0188228162357,1.06970507748
+367,6.116666667,pose2_to_pose3_retreat,0.577227553345,0.0101501392583,1.07003359955,0.547798233093,0.0188227774247,1.06970499502
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+369,6.150000000,pose2_to_pose3_retreat,0.576851644206,0.0101500379173,1.07003349582,0.547422323932,0.0188226762971,1.06970489884
+370,6.166666667,pose2_to_pose3_retreat,0.576692241997,0.0101501334289,1.07003373358,0.547262920671,0.0188227678963,1.06970512768
+371,6.183333333,pose2_to_pose3_retreat,0.576549578148,0.0101502020309,1.07003366259,0.547120255247,0.0188228309573,1.06970505131
+372,6.200000000,pose2_to_pose3_retreat,0.576420649558,0.0101501669025,1.07003373509,0.546991327951,0.0188228000279,1.06970511881
+373,6.216666667,pose2_to_pose3_retreat,0.576304005855,0.0101500822777,1.07003358035,0.5468746851,0.0188227184391,1.06970496804
+374,6.233333333,pose2_to_pose3_retreat,0.576198307073,0.010150058133,1.0700334545,0.546768986626,0.0188226955888,1.06970484874
+375,6.250000000,pose2_to_pose3_retreat,0.57610353292,0.010150108811,1.07003356864,0.546674213066,0.0188227482662,1.06970496266
+376,6.266666667,pose2_to_pose3_retreat,0.576019376564,0.0101500522728,1.07003340298,0.546590056393,0.0188226905337,1.06970479449
+377,6.283333333,pose2_to_pose3_retreat,0.575945836557,0.0101501759986,1.07003348908,0.54651651471,0.0188228087674,1.06970488542
+378,6.300000000,pose2_to_pose3_retreat,0.575884068141,0.0101500309753,1.07003348154,0.546454745846,0.018822662218,1.06970487766
+379,6.316666667,pose2_to_pose3_retreat,0.57583225563,0.0101498445097,1.0700333189,0.546402937395,0.0188224893061,1.06970470915
+380,6.333333333,pose2_to_pose3_retreat,0.575790631229,0.0101501413154,1.07003365231,0.546361309984,0.0188227755731,1.06970503395
+381,6.350000000,pose2_to_pose3_retreat,0.575756918667,0.0101502495016,1.07003378077,0.546327595042,0.0188228757165,1.06970516336
+382,6.366666667,pose2_to_pose3_retreat,0.575730464869,0.0101501919379,1.07003368814,0.546301141617,0.0188228196934,1.06970507808
+383,6.383333333,pose2_to_pose3_retreat,0.575710449341,0.0101501363482,1.07003356815,0.546281126941,0.0188227671547,1.06970496227
+384,6.400000000,pose2_to_pose3_retreat,0.575695519902,0.0101501148887,1.07003351317,0.54626619759,0.0188227459522,1.0697049063
+385,6.416666667,pose2_to_pose3_retreat,0.575684602902,0.0101501325176,1.07003358672,0.546255281918,0.0188227682379,1.06970498393
+386,6.433333333,pose2_to_pose3_retreat,0.575677320684,0.0101502251362,1.07003361715,0.546247998535,0.018822856742,1.06970501023
+387,6.450000000,pose2_to_pose3_retreat,0.575673249452,0.0101502068668,1.07003352585,0.54624392724,0.0188228383711,1.0697049218
+388,6.466666667,pose2_to_pose3_retreat,0.575670703193,0.0101501405723,1.07003338884,0.546241381449,0.0188227738961,1.06970479068
+389,6.483333333,pose2_to_pose3_retreat,0.575669345969,0.0101501054971,1.07003333858,0.546240024531,0.0188227399456,1.06970474259
+390,6.500000000,pose2_to_pose3_retreat,0.575668542383,0.0101500859088,1.07003341145,0.546239221381,0.0188227217208,1.06970481238
+391,6.516666667,pose2_to_pose3_retreat,0.575667931562,0.0101500710193,1.07003346685,0.546238610892,0.0188227078677,1.06970486543
+392,6.533333333,pose2_to_pose3_retreat,0.575667467654,0.010150059711,1.07003350892,0.546238147236,0.0188226973465,1.06970490571
+393,6.550000000,pose2_to_pose3_retreat,0.575666892407,0.0101500456887,1.07003356108,0.546237572302,0.0188226843003,1.06970495567
+394,6.566666667,pose2_to_pose3_retreat,0.575666187642,0.0101500635088,1.07003358714,0.546236867321,0.0188227013341,1.06970498038
+395,6.583333333,pose2_to_pose3_retreat,0.575665909933,0.0101501019377,1.07003356343,0.546236588988,0.0188227376746,1.06970495737
+396,6.600000000,pose2_to_pose3_retreat,0.575665869432,0.0101501075422,1.07003355997,0.546236548396,0.0188227429745,1.06970495401
+397,6.616666667,pose2_to_pose3_retreat,0.57566579467,0.0101501178876,1.07003355359,0.546236473467,0.0188227527577,1.06970494782
+398,6.633333333,pose2_to_pose3_retreat,0.575665542715,0.0101501527526,1.07003353208,0.546236220946,0.0188227857281,1.06970492694
+399,6.650000000,pose2_to_pose3_retreat,0.575665157939,0.0101502059973,1.07003349924,0.546235835306,0.0188228360791,1.06970489506
+400,6.666666667,pose2_to_pose3_retreat,0.575664891668,0.0101502306547,1.07003347475,0.546235568574,0.0188228591712,1.06970487057
+401,6.683333333,pose2_to_pose3_retreat,0.575664793481,0.0101501971207,1.07003345956,0.546235470694,0.0188228265883,1.06970485307
+402,6.700000000,pose2_to_pose3_retreat,0.575664771767,0.0101501897045,1.0700334562,0.546235449048,0.0188228193825,1.0697048492
+403,6.716666667,pose2_to_pose3_retreat,0.575664766299,0.010150187837,1.07003345536,0.546235443597,0.0188228175679,1.06970484823
+404,6.733333333,pose2_to_pose3_retreat,0.575664759508,0.0101501855176,1.07003345431,0.546235436826,0.0188228153143,1.06970484702
+405,6.750000000,pose2_to_pose3_retreat,0.575664709653,0.0101501684904,1.07003344659,0.546235387127,0.01882279877,1.06970483813
+406,6.766666667,pose2_to_pose3_retreat,0.575664574712,0.0101501224033,1.07003342572,0.546235252606,0.0188227539901,1.06970481408
+407,6.783333333,pose2_to_pose3_retreat,0.57566445313,0.0101500971223,1.07003340587,0.546235131262,0.018822729455,1.06970479268
+408,6.800000000,pose2_to_pose3_retreat,0.575664297209,0.0101502004387,1.07003337165,0.546234974458,0.0188228301189,1.06970476748
+409,6.816666667,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74cd4ed76e1f974ac32b79f2da2340ad6005a2cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3779bf537b935a46a1d82b3c54282f06653dbc3ed1325b883bd8c434ff9c7aff
+size 26073835
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5daf28ee985ac4108528c3b743b6374b95d12af
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+24,0.400000000,BASELINE,768.069831011,745.069831011,721,686,665,641.069831011,886,787,818.069831011,653,631.069831011,656,0.40097255525,0.00448377850246,0.0798347302119,0.999999952173,0.000112912256594,-0.000283297242262,5.14480320727e-05,1793250367670152704
+25,0.416666667,BASELINE,768.511695535,745,721,686,665,641,886,787,818.511695535,653,631.511695535,656,0.400973088807,0.00448217472565,0.07983516529,0.999999952373,0.000112400618566,-0.000282785833239,5.14980921426e-05,1793250367686819328
+26,0.433333333,BASELINE,769,745,721,686,664.906703062,641,886,787,819,653,632,656,0.400973558769,0.00448091736056,0.0798354359679,0.99999995251,0.000112200008293,-0.000282389471171,5.14496976651e-05,1793250367703485952
+27,0.450000000,BASELINE,769,745,721,686,664.326887208,641,886,787,819,653,632,656,0.400972704296,0.00448241593674,0.0798346733512,0.999999952166,0.00011323095896,-0.000283259473681,5.10995342044e-05,1793250367720152320
+28,0.466666667,BASELINE,769,745,721,686,664,641,886,787,819,653,632,656,0.400971957882,0.00448343844264,0.0798341196013,0.999999951811,0.000114614633597,-0.00028394458647,5.11477565403e-05,1793250367736819200
+29,0.483333333,BASELINE,769,745,721,686,664,641,886,787,819,653,632,656,0.400971351124,0.00448384567108,0.0798338357927,0.999999951443,0.000116454171683,-0.000284390746129,5.1710856149e-05,1793250367753486080
+30,0.500000000,BASELINE,768.585377066,745,721,686,664.414622934,641,886,787,819,653,632,656,0.400971632563,0.00448442596915,0.079834193474,0.999999951823,0.000115407509817,-0.000283521544387,5.14885412947e-05,1793250367770152704
+31,0.516666667,BASELINE,768.008787672,745,721,686,664.991212328,641,886,787,819,653,632,656,0.400972260962,0.00448507387435,0.0798348017441,0.99999995249,0.000113233395586,-0.000282138515701,5.09594156125e-05,1793250367786819328
+32,0.533333333,BASELINE,768.565117743,745.565117743,721,686,665,641,886,787.565117743,819,653,632,656,0.400974709106,0.00448488432574,0.0798360146525,0.999999952981,0.00011411258831,-0.000280039821586,5.09395607963e-05,1793250367803485952
+33,0.550000000,BASELINE,769,745.857039377,721,686,665,641,886,787.857039377,819,653,632,656,0.400975777257,0.00448507580823,0.0798366359973,0.999999953068,0.000115384812109,-0.000279212247533,5.09101745404e-05,1793250367820152576
+34,0.566666667,BASELINE,769,745.266746052,721,686,665,641,886,787.266746052,819,653,632,656,0.400972439197,0.0044865001165,0.0798353770219,0.999999951903,0.000117738990684,-0.000282396745638,5.08263011436e-05,1793250367836819456
+35,0.583333333,BASELINE,769,745,721.317260878,686,665,641,886,787,819,653,632,656,0.400971800926,0.00448642018982,0.0798351187802,0.999999951681,0.000117336874111,-0.000283338291701,5.08870667978e-05,1793250367853485824
+36,0.600000000,BASELINE,769,745,721.896085102,686,665,641,886,787,819,653,632,656,0.400973388474,0.0044851001081,0.0798356855856,0.999999952239,0.000114662350994,-0.000282430653174,5.1067079021e-05,1793250367870152704
+37,0.616666667,BASELINE,769,745,721.528443875,686,665,641,886,787,818.528443875,653,632,656,0.400972435085,0.00448365470827,0.0798350380346,0.999999952171,0.000113978263856,-0.000282899392693,5.13328231894e-05,1793250367886820096
+38,0.633333333,BASELINE,769,745,721,686,665,641,886,787,818.047231762,653,632,656.047231762,0.400971171923,0.00448236600894,0.0798342644339,0.999999951998,0.000113788652959,-0.000283540811556,5.15793556116e-05,1793250367903487488
+39,0.650000000,BASELINE,769,745,721,686,665,641,886,787,818.633618941,653,632,656.633618941,0.400972719261,0.00448317907252,0.0798350851081,0.999999952186,0.000114271950653,-0.000282715551199,5.139244822e-05,1793250367920153600
+40,0.666666667,BASELINE,768.782797866,745,721,686,665,641,886.217202134,787,818.782797866,653,632,656.782797866,0.400973512477,0.0044834373851,0.0798355480029,0.999999952346,0.000114362056066,-0.000282143247239,5.12284335227e-05,1793250367936820224
+41,0.683333333,BASELINE,768.203884249,745,721,686,665,641,886.796115751,787,818.203884249,653,632,656.203884249,0.400973049838,0.00448277185861,0.0798354150796,0.99999995246,0.000113797369711,-0.000281992197176,5.11025425431e-05,1793250367953487104
+42,0.700000000,BASELINE,768,745.375577606,721,686,665,641,886.248844788,787,818,653,631.624422394,656,0.400972755858,0.00448244287225,0.079835250512,0.999999952504,0.000112464205899,-0.000282376445703,5.10620554708e-05,1793250367970153728
+43,0.716666667,BASELINE,768,745.955337491,721,686,665,641,885.089325018,787,818,653,631.044662509,656,0.400972553567,0.00448229684551,0.0798350687409,0.999999952508,0.000110713260333,-0.000283051708618,5.10679981259e-05,1793250367986820096
+44,0.733333333,BASELINE,768,745.470374938,721,685.470374938,665,641.529625062,885.529625062,787,818.529625062,653,631.529625062,656,0.400972742109,0.00448340228214,0.0798348013664,0.999999952528,0.000111835837297,-0.000282566971466,5.09153816913e-05,1793250368003486208
+45,0.750000000,BASELINE,768.10596309,745.10596309,721.10596309,685.21192618,665.10596309,641.89403691,886,787,819,653,632,656,0.400972804879,0.00448432606794,0.0798345881359,0.99999995246,0.000113109081011,-0.000282313326622,5.08576156089e-05,1793250368020152576
+46,0.766666667,BASELINE,768.693700285,745.693700285,721.693700285,686.38740057,665.693700285,641.306299715,886,787,819,653,632,656,0.400972147496,0.0044839490392,0.0798346535633,0.999999951989,0.000113976879012,-0.000283550578506,5.1291269688e-05,1793250368036819200
+47,0.783333333,BASELINE,768.722783734,745.722783734,721.722783734,686.445567468,665.445567468,641,886,787,819,653,632,656,0.40097203983,0.00448387385709,0.0798346817859,0.999999951859,0.000114557888651,-0.000283760094066,5.13768470351e-05,1793250368053486080
+48,0.800000000,BASELINE,768.143861797,745.143861797,721.143861797,685.287723595,664.287723595,641,886,787,819,653,632,656,0.400972530444,0.00448412718683,0.0798346695172,0.9999999521,0.00011482677503,-0.000282851082791,5.10835984558e-05,1793250368070152960
+49,0.816666667,BASELINE,768.434801229,745,721,685,664.434801229,641,886,787,818.565198771,653,632,656,0.400973796838,0.0044835523036,0.0798354144839,0.999999952526,0.000114680246245,-0.000281417638223,5.09917052969e-05,1793250368086819584
+50,0.833333333,BASELINE,769,745.013260211,721,685,665,641.013260211,885.986739789,787,818,653,632,656,0.400975242933,0.00448276008331,0.0798363559603,0.999999952982,0.000114432029322,-0.000279900799861,5.09672044077e-05,1793250368103485952
+51,0.850000000,BASELINE,769,745.58671739,721,685,665,641.58671739,885.41328261,787,818,653,632,656,0.400973443337,0.00448435601116,0.0798350209398,0.999999952194,0.000115691065487,-0.00028218703093,5.09769171471e-05,1793250368120152576
+52,0.866666667,BASELINE,769,745.835530119,721,685.164469881,665,642,885.328939763,787,818.164469881,653,632,656,0.400972399516,0.0044853014497,0.0798343444579,0.999999951801,0.000116440703702,-0.000283256466737,5.10418248082e-05,1793250368136819200
+53,0.883333333,BASELINE,769,745.246694894,721,685.753305106,665,642,886.506610211,787,818.753305106,653,632,656,0.400973305743,0.00448456849503,0.079835367138,0.99999995244,0.000115875992771,-0.000281186326126,5.12491464585e-05,1793250368153486080
+54,0.900000000,BASELINE,768.662845541,745,721.337154459,686,665,641.662845541,886.662845541,787,819,653,632,656,0.40097416319,0.00448342586492,0.079835820277,0.99999995292,0.000114116155936,-0.000280195618737,5.12604340272e-05,1793250368170152704
+55,0.916666667,BASELINE,768.082591197,745,721.917408803,686,665,641.082591197,886.082591197,787,819,653,632,656,0.400974985464,0.00448198784485,0.0798358627576,0.999999953282,0.000111494592508,-0.000279983219671,5.11303743154e-05,1793250368186819328
+56,0.933333333,BASELINE,768,745,722,686,665.493881979,641,886,787,818.506118021,653,632,656,0.400972717143,0.00448135582177,0.079834724046,0.999999952702,0.000109965381284,-0.000282657241079,5.10696967157e-05,1793250368203486208
+57,0.950000000,BASELINE,768.071250466,745,721.928749534,685.928749534,665.928749534,641,886,787,818,653,632,656,0.400970373004,0.00448110775134,0.0798336214384,0.999999952045,0.000109277747053,-0.000285237875757,5.10565086852e-05,1793250368220152832
+58,0.966666667,BASELINE,768.659672087,745,721.340327913,685.340327913,665.340327913,641,886,787,818,653,632,656,0.400971201499,0.00448267569111,0.0798342037623,0.999999952024,0.000113382842406,-0.000283663663617,5.13044454062e-05,1793250368236819456
+59,0.983333333,BASELINE,768.755830404,745,721,685.244169596,665,641,885.755830404,787,818,653,632,656,0.400972004336,0.00448308525817,0.0798345656088,0.999999952284,0.000114179141466,-0.000282410197839,5.13730537273e-05,1793250368253486080
+60,1.000000000,BASELINE,768.176715799,745,721,685.823284201,665,641,885.176715799,787,818,653,632,656,0.400972771976,0.00448190580224,0.0798346250105,0.999999952943,0.000110436527082,-0.000281596722711,5.11956644104e-05,1793250368270152704
+61,1.016666667,BASELINE,768,745.40247196,721,686,665,641.40247196,885.40247196,787,818.40247196,653,632,656,0.400972846931,0.00448192721764,0.0798351178875,0.999999953005,0.00011097643785,-0.000281154748799,5.12423878315e-05,1793250368286819328
+62,1.033333333,BASELINE,768,745.98169181,721,686,665,641.98169181,885.98169181,787,818.98169181,653,632,656,0.400972617691,0.00448247600271,0.0798358011278,0.999999952805,0.000113397044544,-0.000280875921847,5.1387531669e-05,1793250368303485952
+63,1.050000000,BASELINE,768,746,721,685.435637801,665,642,886,787,819,653,632,656,0.400973257941,0.00448320133023,0.0798361529403,0.999999953184,0.000111737169465,-0.000280288474977,5.08365154646e-05,1793250368320152576
+64,1.066666667,BASELINE,768,745.853799534,721,685.146200466,665,641.853799534,886,787,819,653,632,656,0.400973582888,0.00448381649196,0.0798362486796,0.999999953338,0.000110689547587,-0.000280219605282,5.04838204883e-05,1793250368336819200
+65,1.083333333,BASELINE,768,745.274758321,721,685.725241679,665,641.274758321,886,787,819,653,632,656,0.400972890324,0.00448408843704,0.0798356183164,0.999999952773,0.000111848874773,-0.000281715857163,5.07855476825e-05,1793250368353485824
+66,1.100000000,BASELINE,768,745,721,685.696254299,665,641,886,787,818.696254299,653,632,656,0.400972973586,0.00448377634291,0.0798356655905,0.99999995261,0.000113667353035,-0.000281523797165,5.10281995955e-05,1793250368370152704
+67,1.116666667,BASELINE,768,745,721,685.118235375,665,641,886,787,818.118235375,653,632,656,0.400973757396,0.00448293687894,0.0798363247507,0.999999952805,0.000116081024808,-0.000279807242296,5.12175082917e-05,1793250368386819328
+68,1.133333333,BASELINE,768.45811208,745,721,685.45811208,665,641,886.45811208,787,818,653,632,656,0.400973760222,0.00448306355914,0.0798361650736,0.999999952749,0.000115129941541,-0.000280401708322,5.120960179e-05,1793250368403486720
+69,1.150000000,BASELINE,769,745.034709785,721,685.965290215,665,641.034709785,887,787,818.034709785,653,632,656,0.400973593954,0.00448340435725,0.0798358439634,0.999999952653,0.000113422650389,-0.00028144886273,5.11519183305e-05,1793250368420154368
+70,1.166666667,BASELINE,769,745.622136274,721,685.377863726,665,641.622136274,887,787,818.622136274,653,632,656,0.400973933127,0.00448319848018,0.0798363052674,0.999999952991,0.000113451927691,-0.000280241171189,5.11091684776e-05,1793250368436820224
+71,1.183333333,BASELINE,769,745.793501215,721,685.206498785,665,642,886.793501215,787,818.793501215,653,632,656,0.400973868191,0.00448299417322,0.0798364569627,0.999999953209,0.000112927424439,-0.000279670176756,5.1120295797e-05,1793250368453486336
+72,1.200000000,BASELINE,769,745.214663282,721,685.785336718,665,642,886.214663282,787,818.214663282,653,632,656,0.400973074604,0.00448279269729,0.0798360504008,0.999999953213,0.000111404396282,-0.000280247214341,5.12285693487e-05,1793250368470152704
+73,1.216666667,BASELINE,768.638393626,745,721.361606374,685.638393626,665,642,886,787,818,653,632,656,0.400972427764,0.00448383877865,0.0798353636319,0.999999952819,0.000112743280473,-0.000281135212573,5.11359334957e-05,1793250368486819584
+74,1.233333333,BASELINE,768.063637878,745,721.936362122,685.063637878,665,642,886,787,818,653,632,656,0.400971867425,0.00448562023436,0.0798345116945,0.999999952182,0.000115769122911,-0.000282206506947,5.09248713116e-05,1793250368503486464
+75,1.250000000,BASELINE,768,745,721.485966511,685.514033489,665,641.485966511,886,787,818,653,632,656,0.400971448445,0.00448509813304,0.0798344908532,0.999999951951,0.000116610912749,-0.000282655662402,5.10416261701e-05,1793250368520153088
+76,1.266666667,BASELINE,768.093787544,745,721,685.906212456,665,641,886,787,818,653,632,656,0.400971423275,0.0044845995753,0.079834715717,0.9999999519,0.000116999948033,-0.000282653818155,5.11569927772e-05,1793250368536819712
+77,1.283333333,BASELINE,768.682618607,745,721,685.317381393,665,641,886,787,818,653,632,656,0.400973383877,0.00448573917023,0.0798356913087,0.999999952528,0.000116434529928,-0.0002806803047,5.10495926783e-05,1793250368553486080
+78,1.300000000,BASELINE,769,745.267120807,721,685.267120807,665,641,886,787,818,653,632,656,0.400974132288,0.00448588320751,0.0798360605718,0.999999952834,0.000115635350215,-0.000279926667645,5.10042571472e-05,1793250368570152704
+79,1.316666667,BASELINE,769,745.846561619,721,685.846561619,665,641,886,787,818,653,632,656,0.400973463396,0.00448486322992,0.0798357209102,0.999999952768,0.000114562854403,-0.000280599320982,5.10314880646e-05,1793250368586819328
+80,1.333333333,BASELINE,769,745.57694825,721,686,665,641.42305175,886,787,818.42305175,653,632,656,0.400974181355,0.00448474565201,0.0798360781598,0.999999952936,0.000114701583776,-0.000279973863129,5.08578984307e-05,1793250368603485952
+81,1.350000000,BASELINE,769,745.001520855,721,686,665,641.998479145,886,787,818.998479145,653,632,656,0.400975398832,0.00448495310216,0.0798366864243,0.999999953188,0.000115276574628,-0.000278880848985,5.06119768416e-05,1793250368620152832
+82,1.366666667,BASELINE,769,745,721,686,665,641.426947439,886,787,818.426947439,653,632,656,0.400973994592,0.00448470263106,0.0798362894544,0.999999952977,0.000115159393245,-0.000279642786802,5.08303278036e-05,1793250368636819712
+83,1.383333333,BASELINE,769,745.151761757,721,685.848238243,665,641,886,787.151761757,818,653,632,656,0.400972975626,0.00448440027867,0.0798359192695,0.999999952777,0.000115254940256,-0.000280287063377,5.10059953305e-05,1793250368653486336
+84,1.400000000,BASELINE,769,745.742438867,721,685.257561133,665,641,886,787.742438867,818,653,632,656,0.400973091016,0.00448395138817,0.0798356342545,0.99999995261,0.000115971031207,-0.000280576831389,5.10546584281e-05,1793250368670152960
+85,1.416666667,BASELINE,768.673452164,745.673452164,721,685.326547836,665,641.326547836,886,787.673452164,818.326547836,653,632,656,0.400972382699,0.00448336292716,0.0798351496308,0.9999999524,0.000115293155434,-0.00028160839863,5.10257890106e-05,1793250368686819584
+86,1.433333333,BASELINE,768.094421632,745.094421632,721,685.905578368,665,641.905578368,886,787.094421632,818.905578368,653,632,656,0.400971037501,0.004482666552,0.0798345106721,0.999999952152,0.000113537482017,-0.000283213515721,5.09369724206e-05,1793250368703486208
+87,1.450000000,BASELINE,768.481498885,745.481498885,721,686.481498885,665,641.518501115,886,787,818.518501115,653,632,656,0.400972572215,0.00448371715656,0.0798360011617,0.999999952797,0.000113258601005,-0.000281069956131,5.07729551671e-05,1793250368720152832
+88,1.466666667,BASELINE,769,746,721,686.942101443,665,641,886.057898557,787,818.057898557,653,632,656,0.400974395397,0.00448477453283,0.0798375972566,0.999999953503,0.000113148874842,-0.000278612812658,5.06486816928e-05,1793250368736819456
+89,1.483333333,BASELINE,769,746,721,686.355798606,665,641,886.644201394,787,818.644201394,653,632,656,0.400973730214,0.00448278724458,0.0798363705775,0.999999953243,0.000111956899484,-0.00027995965089,5.10208463165e-05,1793250368753486080
+90,1.500000000,BASELINE,769,745.772266686,721,686.227733314,665,641,886.772266686,787,818.772266686,653,632,656,0.400973043965,0.00448243489318,0.0798354932551,0.999999952903,0.000112281717003,-0.000281021738198,5.11224679458e-05,1793250368770152960
+91,1.516666667,BASELINE,769,745.193011915,721,686.806988085,665,641,886.193011915,787,818.193011915,653,632,656,0.400972325198,0.00448460617532,0.0798351551883,0.999999952441,0.000114947804929,-0.000281644293465,5.08064885043e-05,1793250368786820096
+92,1.533333333,BASELINE,769,745,721,686.61486843,665,641,886,787,818.38513157,653,632,656,0.400971774838,0.00448474579015,0.0798348761849,0.999999952225,0.000115831932484,-0.000282050175847,5.07984528533e-05,1793250368803486720
+93,1.550000000,BASELINE,769,745,721,686.037280222,665,641,886,787,818.962719778,653,632,656,0.400971308633,0.00448387014729,0.0798346266966,0.999999952134,0.000115825585103,-0.000282347783247,5.09443017975e-05,1793250368820153600
+94,1.566666667,BASELINE,768.462135902,745,721,686,665,641,886,787,818.462135902,653,631.462135902,656,0.400972867813,0.00448365976417,0.0798354100939,0.999999952819,0.000113127683281,-0.000281067990954,5.06409178017e-05,1793250368836820224
+95,1.583333333,BASELINE,768.115499089,745,721,686.115499089,665,641.115499089,886,787,818,653,631.115499089,656,0.400974224134,0.00448374423692,0.0798363320288,0.999999953395,0.000111514707825,-0.000279690928448,5.04670909585e-05,1793250368853486848
+96,1.600000000,BASELINE,768.70402541,745,721,686.70402541,665,641.70402541,886,787,818,653,631.70402541,656,0.400974177308,0.00448484830317,0.07983752947,0.999999953335,0.000115105639317,-0.000278361239737,5.09508113352e-05,1793250368870152960
+97,1.616666667,BASELINE,768.711725621,745,721,686.711725621,665,641.711725621,886,787,818.288274379,653,632,656,0.400973925019,0.0044854099397,0.0798377091096,0.999999953171,0.000116990335043,-0.000278122497241,5.11829208845e-05,1793250368886819584
+98,1.633333333,BASELINE,768.131804085,745,721,686.131804085,665,641.131804085,886,787,818.868195915,653,632,656,0.400973464861,0.00448542280008,0.0798368590395,0.999999952912,0.000117148832021,-0.000278987464988,5.11604757595e-05,1793250368903485952
+99,1.650000000,BASELINE,768.442276279,745,721,686,665,641.442276279,886.442276279,787,819,653,632,656,0.400973531154,0.00448552048278,0.079836561272,0.999999952877,0.000116441358228,-0.000279458080829,5.08884527679e-05,1793250368920152832
+100,1.666666667,BASELINE,769,745,721,686,665,641.985214371,886.985214371,787,819,653,632,656,0.400973727344,0.00448559956321,0.0798364106874,0.999999952904,0.000115479184947,-0.000279822425329,5.05547308114e-05,1793250368936819712
+101,1.683333333,BASELINE,769,745,721,686,665,641.407102473,886.407102473,787,819,653,632,656,0.400972973097,0.00448401937146,0.0798356785159,0.999999952803,0.000114517283165,-0.00028055705112,5.0667115988e-05,1793250368953486592
+102,1.700000000,BASELINE,769,745,721,686,665,641,886,787,819,653,632,656.175480664,0.40097233799,0.00448343826573,0.0798351227858,0.999999952692,0.000114249509858,-0.000281055856687,5.07080680501e-05,1793250368970153216
+103,1.716666667,BASELINE,769,745,721,686,665,641,886,787,819,653,632,656.76870788,0.400971986502,0.00448523556892,0.0798349870896,0.999999952557,0.000115634168182,-0.000280993272182,5.05789675308e-05,1793250368986819840
+104,1.733333333,BASELINE,769,745,721,686,665,641,886.349113106,787,819,653,632,656.650886894,0.400973032715,0.00448537884762,0.0798357771763,0.999999952802,0.000115782285536,-0.000280031171026,5.07201724644e-05,1793250369003486464
+105,1.750000000,BASELINE,769,745,721,686,665,641,886.921324585,787,819,653,632,656.078675415,0.400974972118,0.00448446513332,0.0798371588784,0.99999995329,0.000115140199871,-0.000278494239822,5.10341142601e-05,1793250369020153088
+106,1.766666667,POSE1_TO_POSE2_PRESS,768,745,721,686,665,641,886,787,819,653,632,656,0.400974387135,0.00448358141225,0.0798369933029,0.999999953412,0.000114215550054,-0.000278439764223,5.10046227675e-05,1793250369051295744
+107,1.783333333,POSE1_TO_POSE2_PRESS,768.589932215,745,721,686,665,641,886,787,818.410067785,653,632,656,0.400973323236,0.00448445767988,0.0798357176713,0.999999952751,0.000114667522876,-0.000280664505177,5.0767931504e-05,1793250369067962880
+108,1.800000000,POSE1_TO_POSE2_PRESS,768.823500996,745,721,685.823500996,665,641,886,787,818,653,632,656,0.400972508779,0.00448490898153,0.0798348717176,0.999999952347,0.000114693819297,-0.000282124079885,5.05775548058e-05,1793250369084630272
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.244606828,745,721,685.244606828,665,641,886,787,818,653,632,656,0.40097226302,0.00448439141522,0.0798350053741,0.999999952539,0.000113749628037,-0.000281839173826,5.04927693488e-05,1793250369101296896
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.333282786,745.333282786,721,685.333282786,665,641,885.666717214,787,818,653,632,656,0.40097230928,0.00448390639892,0.0798353205851,0.999999952623,0.00011392645807,-0.000281429918206,5.07056794799e-05,1793250369117963264
+111,1.850000000,POSE1_TO_POSE2_PRESS,768.910437308,745.910437308,721,685.910437308,665,641,885.089562692,787,818,653,632,656,0.400972569217,0.00448344520033,0.0798357686441,0.999999952628,0.000114923568771,-0.000280929672775,5.11364212675e-05,1793250369134629376
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745.514895252,721,686,665,641.485104748,885.485104748,787,818.485104748,653,632,656,0.400972289502,0.00448420135933,0.0798353752891,0.999999952446,0.000115960881239,-0.000281184124304,5.09645822049e-05,1793250369151296000
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.939052392,745.060947608,721,686,665,641.939052392,886,787,819,653,632,656,0.400972014408,0.00448497008792,0.0798349771809,0.999999952296,0.000116735807459,-0.000281435045289,5.07472050581e-05,1793250369167962368
+114,1.900000000,POSE1_TO_POSE2_PRESS,768.349040478,745.650959522,721,686,665,641.349040478,886,787,819,653,632,656,0.400972639897,0.00448390686094,0.0798358794396,0.999999952736,0.000115168951452,-0.000280451960148,5.10953388694e-05,1793250369184629248
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745.76322572,721,685.76322572,665,641.23677428,886,787,819,653,632,656,0.400973860702,0.0044834993272,0.0798368046885,0.99999995301,0.000115012645094,-0.000279503505802,5.12813686142e-05,1793250369201295872
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745.183490479,721,685.183490479,665,641.816509521,886,787,819,653,632,656,0.400975943809,0.00448404154697,0.0798377632381,0.999999953044,0.000116899480821,-0.000278605213284,5.12325950954e-05,1793250369217962496
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,721,685.392678777,665,642,886,787.392678777,819,653,632,656,0.400990953906,0.00448492262862,0.0798435095244,0.999999955742,0.000117281011074,-0.000268598685685,5.1140738072e-05,1793250369234629376
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745,721,685.96719677,665,642,886,787.96719677,819,653,632,656,0.401011950153,0.00448596062835,0.0798514728859,0.999999959504,0.000116965474095,-0.000254374373813,5.10289301977e-05,1793250369251296256
+119,1.983333333,POSE1_TO_POSE2_PRESS,768.542065977,745,721,686,665,642,886,787.457934023,818.457934023,653,632,656,0.401059198959,0.00448676703311,0.0798670705391,0.999999967071,0.000115699575752,-0.000223555674012,4.9953329125e-05,1793250369267962624
+120,2.000000000,POSE1_TO_POSE2_PRESS,769,745,721,685.879243069,665,641.879243069,886,787,818,653,632,656,0.401113363935,0.00448727309762,0.079883204513,0.999999973894,0.000114401439069,-0.000191702496746,4.87210185093e-05,1793250369284628992
+121,2.016666667,POSE1_TO_POSE2_PRESS,769,745,721,685.285671457,665,641.285671457,886,787,818,653,632,656,0.401188384286,0.00448665811298,0.0798996283525,0.999999979726,0.000113202402707,-0.000159733360459,4.71036350961e-05,1793250369301295872
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.701062163,745,721,685.298937837,665,641.298937837,886,787,818.298937837,653.298937837,632,656,0.401266399502,0.00448742484489,0.0799112797849,0.999999982784,0.000112122541272,-0.000140788310376,4.51586876899e-05,1793250369317962496
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.124768192,745,721,685.875231808,665,641.875231808,886,787,818.875231808,653.875231808,632,656,0.401347193365,0.00448947354091,0.0799185033513,0.999999983934,0.000111153251121,-0.00013392707959,4.29098247761e-05,1793250369334629120
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.450819696,745.450819696,721,686,665,641.549180304,886,787,818.549180304,654,632,656,0.40144515416,0.0044906999455,0.0799229803128,0.999999985149,0.000110431583528,-0.000126097687071,4.00787273851e-05,1793250369351296000
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.973163294,745.973163294,721,686,665.026836706,641,886,787,818.026836706,653.973163294,632,656,0.401549006707,0.00449167798976,0.0799268270197,0.999999986351,0.00010961907455,-0.000117942177546,3.70340052999e-05,1793250369367962880
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.384067806,745.384067806,721,686,665.615932194,641,886,787,818.615932194,653.384067806,632,656,0.40167691299,0.00449221312658,0.0799333701988,0.999999988005,0.000105469768692,-0.000108559161089,3.28843559008e-05,1793250369384629504
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.20013112,745.20013112,721,686,665.79986888,641,886,787,818.79986888,653,632,656,0.401817102563,0.00449370873053,0.07993999821,0.999999989534,0.000102711618475,-9.78357768963e-05,2.84555742605e-05,1793250369401296128
+128,2.133333333,POSE1_TO_POSE2_PRESS,768.775157501,745.775157501,721,686,665.224842499,641,886,787,818.224842499,653,632,656,0.401980301774,0.00449700352772,0.079946785132,0.999999990886,0.000102559448547,-8.46015523038e-05,2.3503909118e-05,1793250369417962496
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745.646583564,721,686,665,641,886,787,818.353416436,653,632,656,0.402160882706,0.00450043013952,0.0799546123121,0.999999992467,9.91857682244e-05,-7.01040197698e-05,1.77134064189e-05,1793250369434629120
+130,2.166666667,POSE1_TO_POSE2_PRESS,769,745.066249049,721,686,665,641,886,787,818.933750951,653,632,656,0.402352623934,0.00450394138584,0.0799631074112,0.99999999404,9.37436527894e-05,-5.47953538294e-05,1.13843108248e-05,1793250369451295744
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.491689233,745,721,686,665,641.508310767,886,787,819,653,632,656,0.402554673329,0.00450697449827,0.0799586587742,0.999999994265,8.60974486946e-05,-6.35161315034e-05,4.70166627018e-06,1793250369467962368
+132,2.200000000,POSE1_TO_POSE2_PRESS,768.084427674,745.084427674,721,686,665,642,886,787,818.915572326,653,632,656,0.402762605661,0.00450991280162,0.079952565134,0.999999994103,7.81000284106e-05,-7.54347559771e-05,-2.21636963262e-06,1793250369484628992
+133,2.216666667,POSE1_TO_POSE2_PRESS,768.674322451,745.674322451,721,686,665,642,886,787,818.325677549,653,632,656,0.402997806076,0.00451265238005,0.0799466093551,0.99999999365,6.97003981602e-05,-8.79594235351e-05,-1.02709191457e-05,1793250369501295872
+134,2.233333333,POSE1_TO_POSE2_PRESS,769,746,721,686.259467777,665,642,886.259467777,787,818.259467777,653,632,656,0.403262067787,0.00451658434851,0.0799439388286,0.999999993542,6.32155627738e-05,-9.26126314442e-05,-1.85119097729e-05,1793250369517962496
+135,2.250000000,POSE1_TO_POSE2_PRESS,769,746,721,686.838758835,665,642,886.838758835,787,818.838758835,653,632,656,0.403562150807,0.00452198607193,0.0799453177463,0.999999994056,5.90909283972e-05,-8.75633773863e-05,-2.69827096064e-05,1793250369534629120
+136,2.266666667,POSE1_TO_POSE2_PRESS,769,746,721,687,665,641.586515366,887,787,818.586515366,653,632,656,0.403889426967,0.00452574255093,0.0799489509142,0.99999999304,7.85923408717e-05,-8.36801225e-05,-2.72287986807e-05,1793250369551295744
+137,2.283333333,POSE1_TO_POSE2_PRESS,769,746,721,687,665,641.013550392,887,787,818.013550392,653,632,656,0.40422719147,0.00452886446175,0.0799534535426,0.999999990738,0.000107206280585,-8.02465916244e-05,-2.43026302023e-05,1793250369567962368
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.437104858,746,721,687,665,641,887,787.562895142,818,653,632,656,0.404606998204,0.00454191861305,0.0799552597822,0.999999986163,0.000148209932376,-7.22704162821e-05,-2.20088245879e-05,1793250369584628992
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.142989093,746,721,687.142989093,665,641.142989093,886.857010907,787.857010907,818.142989093,653,632,656,0.404995877819,0.00455300528627,0.0799555675746,0.99999998539,0.00015596554963,-6.64590780769e-05,-2.18579885304e-05,1793250369601295616
+140,2.333333333,POSE1_TO_POSE2_PRESS,768.734256607,746,721,687.734256607,665,641.734256607,886.265743393,787.265743393,818.734256607,653,632,656,0.405410008693,0.00455716956724,0.0799513824153,0.999999995587,5.85459419631e-05,-6.77795834457e-05,-2.83774557483e-05,1793250369617962240
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,746,721.317532499,688,665.317532499,642,886,787,819,653,632,656,0.405851737232,0.00456380035159,0.0799449030525,0.999999995711,4.10885972758e-05,-7.73640024984e-05,-3.00706206168e-05,1793250369634629120
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,721.894284449,688,665.894284449,642,886,787,819,653,632,656,0.406315995326,0.00457244468037,0.0799365508032,0.999999991271,8.8908887878e-05,-9.36947146209e-05,-2.78238070764e-05,1793250369651295744
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,722,688,665.530020967,642,886.469979033,787.469979033,819,653,632,656,0.406802883405,0.00458427067673,0.0799305901342,0.999999986752,0.00012000365571,-0.000105633336568,-3.05923982816e-05,1793250369667962624
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.953329134,745.953329134,721.953329134,688.046670866,665,642,887,787.953329134,818.953329134,653,632,656,0.40729715139,0.0045961905169,0.0799254002993,0.999999982147,0.000144905336961,-0.000116351900811,-3.4220023097e-05,1793250369684629504
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.362235585,745.362235585,721.362235585,688.637764415,665,642,887,787.362235585,818.362235585,653,632,656,0.407818261478,0.0046008753649,0.0799229411253,0.999999981677,0.000141351686121,-0.000124336944542,-3.4737923199e-05,1793250369701296384
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,745.223623424,721,689,665,642,887,787,818,653,632,656,0.408364513132,0.00460883747158,0.0799192986782,0.999999979861,0.000146715138902,-0.000132277582284,-3.54435525141e-05,1793250369717963008
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745.801197186,721,689,665,642,887,787,818,653,632,656,0.408950558734,0.00462198681103,0.0799137833505,0.999999975705,0.000166192550876,-0.000140147933884,-3.6446318903e-05,1793250369734629120
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.377310516,746,721.377310516,689.377310516,665,642,887,787.377310516,818,653,632,656,0.409608476618,0.00462984939787,0.0799357911038,0.999999978825,0.000173918372251,-0.000103310976473,-3.77981828491e-05,1793250369751295488
+149,2.483333333,POSE1_TO_POSE2_PRESS,768.952657303,746,721.952657303,689.952657303,665,642,887,787.952657303,818,653,632,656,0.410304117573,0.00463493716429,0.0799722446996,0.999999982906,0.000175476219271,-4.3008813226e-05,-3.93332749922e-05,1793250369767962368
+150,2.500000000,POSE1_TO_POSE2_PRESS,769,746,722,689.460272672,665,642,888.079454656,787.460272672,818.539727328,653,632,656.539727328,0.410978567849,0.00464022358944,0.0799916002223,0.999999983214,0.000178322433863,-1.31161225831e-05,-4.00189971794e-05,1793250369784629248
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.874126356,745.874126356,722,689.125873644,665,642,889,787,818.874126356,653,632,656.874126356,0.411650429011,0.00464016616304,0.0799994163108,0.999999983267,0.000178360768086,-2.25880053398e-06,-4.0596957055e-05,1793250369801296128
+152,2.533333333,POSE1_TO_POSE2_PRESS,768.295089936,745.295089936,722,689.704910064,665,642,889,787,818.295089936,653,632,656.295089936,0.412319809215,0.00462080599295,0.0799712080916,0.99999998381,0.000167874451872,-5.0115267881e-05,-4.10611349927e-05,1793250369817962752
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745.28130992,722,690.28130992,665,642,888.71869008,787,818,653,632,656.28130992,0.413018312248,0.00460105596592,0.0799430509898,0.999999985278,0.000140882848014,-8.85733811153e-05,-4.18395269889e-05,1793250369834629376
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,745.854969811,722,690.854969811,665,642,888.145030189,787,818,653,632,656.854969811,0.413747081121,0.00458090077957,0.0799149470081,0.999999987523,9.67382027408e-05,-0.000117264306224,-4.29444644701e-05,1793250369851296000
+155,2.583333333,POSE1_TO_POSE2_PRESS,768.432663374,746,722,691.432663374,665.432663374,642,888.432663374,787.432663374,818,653,631.567336626,657,0.414543133517,0.00457464950175,0.0799216141258,0.999999989229,9.79647531355e-05,-0.000100619429282,-4.26657925473e-05,1793250369867962368
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.977044146,746,721.988522073,692,665.988522073,642,889,787.988522073,818.011477927,653,631.011477927,656.988522073,0.415361073586,0.00457341374774,0.0799397567873,0.999999990206,0.000114036445782,-6.94695039362e-05,-4.19334419524e-05,1793250369884628992
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.843015117,746,721.421507559,692,665.421507559,642,889,787.421507559,818.578492441,653,631.578492441,656.421507559,0.416136509389,0.00458723189398,0.0799438862248,0.999999990449,0.000105590745806,-7.87179889861e-05,-4.19017502589e-05,1793250369901295616
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.306909673,746,721.153454836,692,665.153454836,642,889,787,819,653,632,656.153454836,0.416927813014,0.00459849317829,0.0799465138824,0.999999990077,0.000106320638414,-8.21332385471e-05,-4.23790490748e-05,1793250369917962240
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.502881563,746,721.751440781,692,665.751440781,642,889,787,819,653,632,656.751440781,0.417765082823,0.0046023476919,0.079944791153,0.999999987732,0.000133630575766,-6.86506516702e-05,-4.43308020022e-05,1793250369934628864
+160,2.666666667,POSE1_TO_POSE2_PRESS,769,745.66223349,721.66223349,692,666,642,889,787,819,653.33776651,632,656.66223349,0.418652515357,0.00460266793701,0.0799635261709,0.999999989269,0.000136310328267,-2.66589109218e-05,-4.65897185482e-05,1793250369951295744
+161,2.683333333,POSE1_TO_POSE2_PRESS,769,745.084202097,721.084202097,692,666,642,889,787,819,653.915797903,632,656.084202097,0.419575630318,0.00460047413577,0.0799968134848,0.999999990785,0.000121469785522,3.56123664927e-05,-4.90671308793e-05,1793250369967962368
+162,2.700000000,POSE1_TO_POSE2_PRESS,769,745.491733193,721,692,666.983466386,642,889,787.491733193,819,654,632,656.491733193,0.42046115445,0.00459300853042,0.0799849147185,0.999999991969,0.000116001010954,1.50139487647e-05,-4.87842993443e-05,1793250369984628992
+163,2.716666667,POSE1_TO_POSE2_PRESS,768.93068487,746,721,692.06931513,667.861369741,642,889,788,819,653.93068487,631.93068487,656.93068487,0.421342495513,0.00458610035251,0.0799682635815,0.999999992367,0.000112798549676,-1.48094967761e-05,-4.81966502219e-05,1793250370001295872
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.337970646,746,721,692.662029354,666.675941293,642,889,788,819,653.337970646,631.337970646,656.337970646,0.422240648328,0.0045901888245,0.0799739048464,0.999999992206,0.000114642785051,-7.59552899044e-06,-4.886116636e-05,1793250370017962496
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.247949899,746,721,693,666,642,889,787.752050101,819,653,631.247949899,656.247949899,0.423151340379,0.00459748177626,0.0799866561497,0.999999991452,0.000120756456127,9.50848583484e-06,-4.92323304325e-05,1793250370034628864
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.824857289,746,721,693,666,642,889,787.175142711,819,653,631.824857289,656.824857289,0.424078668479,0.00460902614242,0.0800088404095,0.999999989217,0.000132534428358,3.97337211996e-05,-4.92143015862e-05,1793250370051295488
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.600674689,746,721,693,666,642.399325311,889,787.399325311,819,653,632,657,0.424956693472,0.0046168197345,0.0799806493809,0.999999988347,0.000143160103565,-2.14858001737e-05,-4.84707264504e-05,1793250370067962112
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.027270103,746,721,693,666,642.972729897,889,787.972729897,819,653,632,657,0.425813225536,0.00462297823787,0.0799304980761,0.999999979617,0.000153283452001,-0.000122569154639,-4.74108609834e-05,1793250370084628992
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.560993986,746,721,693.560993986,666,643,889,787.439006014,819,653,632,656.439006014,0.426770902717,0.00461773770775,0.0799166727147,0.999999981743,0.000142611815388,-0.000116661258247,-5.06562745555e-05,1793250370101295872
+170,2.833333333,POSE1_TO_POSE2_PRESS,768.852231702,746,721,694,666.147768298,643,889,787.147768298,819.147768298,653,632,656,0.427724447494,0.00461085838414,0.079908500865,0.999999983853,0.000131149662616,-0.000110886989708,-5.2900776025e-05,1793250370117963008
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.271989109,746,721,694,666.728010891,643,889,787.728010891,819.728010891,653,632,656,0.428651116644,0.00460084863847,0.0799115665421,0.999999984082,0.000120412861176,-0.000121139407895,-5.15867330542e-05,1793250370134629632
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.30731726,746,721,694,666.69268274,643,889,787.69268274,819.69268274,653,632,656,0.429606812608,0.00459852347627,0.079933945613,0.999999987171,0.000119530949892,-9.37932983258e-05,-5.07242871315e-05,1793250370151296256
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.885797517,746,721,694,666.114202483,643,889,787.114202483,819.114202483,653,632,656,0.430588120484,0.00460297884714,0.0799733659582,0.999999990075,0.000127344552889,-3.3271929702e-05,-5.02603101655e-05,1793250370167962624
+174,2.900000000,POSE1_TO_POSE2_PRESS,769,746,721,694,666.460904931,642.539095069,889,787.460904931,819,653.460904931,632,656,0.431557611217,0.00461301284675,0.0800097875632,0.999999989446,0.000134397754761,2.241602138e-05,-5.04291636225e-05,1793250370184628992
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+176,2.933333333,POSE1_TO_POSE2_PRESS,769,746,721,694,666.391469695,642.608530305,889.608530305,787.391469695,819,653.391469695,632,656.608530305,0.433373895321,0.00462461312731,0.0799694915345,0.99999998721,0.000145365311068,-4.23286959513e-05,-5.15554378007e-05,1793250370217962240
+177,2.950000000,POSE1_TO_POSE2_PRESS,769,746,721,694.189409771,666,642.810590229,890,787.189409771,819.189409771,653,632,656.810590229,0.434246829152,0.00462410605264,0.0799164308626,0.999999980948,0.000143890549997,-0.000120847456052,-5.2872285671e-05,1793250370234628864
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+179,2.983333333,POSE1_TO_POSE2_PRESS,768.629601524,746,721,695,666.370398476,642,890,787.629601524,820,653,632,656,0.436064388305,0.00461584865242,0.0799190624026,0.9999999852,0.000123258992412,-0.000106308536239,-5.5723606573e-05,1793250370267962368
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+181,3.016666667,POSE1_TO_POSE2_PRESS,768.521058826,746,721,695,666.478941174,642,890,787.521058826,820,653,632,656,0.437883399468,0.00460986085315,0.0799905057864,0.999999991408,0.00011914855785,-1.00196888692e-05,-5.37299524079e-05,1793250370301295616
+182,3.033333333,POSE1_TO_POSE2_PRESS,769,746,721,694.90262807,666,642,890,788,820.09737193,653.09737193,632,656.09737193,0.438778083367,0.00461118130001,0.0800104774436,0.999999991273,0.000119118579923,2.18549854684e-05,-5.27863982463e-05,1793250370317961728
+183,3.050000000,POSE1_TO_POSE2_PRESS,769,746,721,694.312400107,666,642,890,788,820.687599893,653.687599893,632,656.687599893,0.439598104711,0.0046181755542,0.079984919501,0.999999990607,0.000124121123457,-2.33602343054e-05,-5.32293875904e-05,1793250370334628352
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+192,3.200000000,POSE1_TO_POSE2_PRESS,769,746,721,694.090473352,663.090473352,640.090473352,890.090473352,787,821.909526648,653.090473352,632,656,0.446175273521,0.00469368722044,0.0798054881702,0.999999929323,0.000215554376263,-0.000303350668225,-5.35683627602e-05,1793250370484628736
+193,3.216666667,POSE1_TO_POSE2_PRESS,769,746,721,694.485675712,662.514324288,640.485675712,890,787,822,653,632,656.485675712,0.446793366526,0.0046959861996,0.0797728442887,0.999999915285,0.000225820631072,-0.000339805708011,-5.447832471e-05,1793250370501295360
+194,3.233333333,POSE1_TO_POSE2_PRESS,768.937021639,746.062978361,721,695,661.937021639,641,890.062978361,787,822,653,632,656.937021639,0.447398585541,0.00469795139561,0.0797379730486,0.99999989931,0.000234731183577,-0.000378358349885,-5.59105602846e-05,1793250370517962240
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+204,3.400000000,POSE1_TO_POSE2_PRESS,769,746,721,695,657.124727562,639,890,786,823,654,632,656,0.452180750467,0.00478549569695,0.0796167935271,0.999999770031,0.000335365887509,-0.000585154198837,-7.11441346212e-05,1793250370684629760
+205,3.416666667,POSE1_TO_POSE2_PRESS,769,746,720.548880825,695,657,639,890.451119175,786,823,653.548880825,632,656.451119175,0.452502092528,0.00477978517243,0.0795852882015,0.999999744652,0.000328321191576,-0.000630592507903,-7.24792822543e-05,1793250370701296384
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.973937582,746,720,695,656.973937582,639,891,786,823,653.026062418,632,657,0.452818704576,0.00477058445084,0.0795564981323,0.999999723585,0.00031326905807,-0.000670173906916,-7.45647518343e-05,1793250370717963008
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.399125994,746,720,695,656.399125994,639,891,786,823,653.600874006,632,657,0.453117574241,0.00476971800966,0.0795487026363,0.999999722078,0.000288010037891,-0.000683289127457,-7.75235545903e-05,1793250370734629632
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.181683046,746,720.181683046,695,656,639,891,786,823,653.818316954,632,656.818316954,0.453408649495,0.00476607016141,0.0795423957957,0.999999723982,0.000256368956174,-0.000692818236022,-7.94547919409e-05,1793250370751296000
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.776117139,746,720.776117139,695,656,639,891,786,823,653.223882861,632,656.223882861,0.453682017219,0.00475610345907,0.079539470912,0.99999973382,0.00021022898758,-0.00069420034462,-7.90515860094e-05,1793250370767962368
+210,3.500000000,POSE1_TO_POSE2_PRESS,769,746,721,695,655.642153929,638.642153929,891,786,823,653.357846071,632,656,0.453920502689,0.00474947947109,0.0795319680125,0.999999726206,0.000206879352433,-0.000706557160415,-7.46068125373e-05,1793250370784628992
+211,3.516666667,POSE1_TO_POSE2_PRESS,769,746,721,695,655.068101256,638.068101256,891,786,823,653.931898744,632,656,0.454137912718,0.00474487511284,0.0795216991267,0.999999708191,0.000229383154735,-0.000725544772027,-6.7720169042e-05,1793250370801295616
+212,3.533333333,POSE1_TO_POSE2_PRESS,769,746,721,695,654.492903232,638,891,786,823.507096768,654,631.492903232,656.507096768,0.454330141609,0.00475166748961,0.0795138950287,0.999999694917,0.000248527360663,-0.000737540202778,-6.65923327016e-05,1793250370817962752
+213,3.550000000,POSE1_TO_POSE2_PRESS,769,746,721,695,654.084553052,638,891,786,823.915446948,654,631.084553052,657,0.454515616968,0.00475831265636,0.0795078336377,0.999999684369,0.000264018447926,-0.000746418979254,-6.64404880349e-05,1793250370834629632
+214,3.566666667,POSE1_TO_POSE2_PRESS,769,746,721,695,654.674588458,638,891,786,823.325411542,654,631.674588458,657,0.454680980617,0.00475490704216,0.0795102072806,0.999999688327,0.00026037355287,-0.000742291975804,-6.74894061005e-05,1793250370851296768
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+216,3.600000000,POSE1_TO_POSE2_PRESS,769.837987881,746,721,695,654.162012119,638,891,786,823,653.162012119,631.162012119,657,0.454968889035,0.00475490648855,0.0795109307131,0.99999968856,0.000259878290795,-0.000741991028422,-6.9231247175e-05,1793250370884629760
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+218,3.633333333,POSE1_TO_POSE2_PRESS,769.010985443,746,720.010985443,695,654,638,891,786,823.989014557,653.989014557,631.989014557,657,0.455180230264,0.00475896621204,0.0795038222785,0.999999675368,0.00026853885793,-0.000756440304773,-7.03425507028e-05,1793250370917962496
+219,3.650000000,POSE1_TO_POSE2_PRESS,769,746,720.576626207,695,654,638,890.423373793,786,823.423373793,654,632,657,0.455257751289,0.00475943032694,0.0795011396907,0.999999670684,0.000268707038862,-0.000762515857587,-7.06909665056e-05,1793250370934629120
+220,3.666666667,POSE1_TO_POSE2_PRESS,769.16190267,746,721,695,653.83809733,638,890.16190267,786,823.16190267,654,632,657,0.455330680064,0.00475961242649,0.0794990227489,0.999999667008,0.000268786719563,-0.000767264273555,-7.1008406255e-05,1793250370951295744
+221,3.683333333,POSE1_TO_POSE2_PRESS,769.74053725,746,721,695,653.25946275,638,890.74053725,786,823.74053725,654,632,657,0.455392953765,0.00475915310933,0.0794982923541,0.999999665863,0.00026887406573,-0.000768702129977,-7.1254483578e-05,1793250370967962368
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,746,721,695,653,637.681696351,891,786,824,653.681696351,631.681696351,657,0.455444892701,0.00475958435139,0.0794967333717,0.999999663461,0.000269358456485,-0.000771651702306,-7.12525313493e-05,1793250370984629248
+223,3.716666667,POSE1_TO_POSE2_PRESS,770,746,721,695,653,637.104635655,891,786,824,653.104635655,631.104635655,657,0.455488430252,0.0047607395514,0.0794945008096,0.999999660025,0.000270165614785,-0.000775830186678,-7.10489496829e-05,1793250371001296128
+224,3.733333333,POSE1_TO_POSE2_PRESS,769.529902563,746,720.529902563,695,653,637.470097437,891.470097437,786,823.529902563,653.470097437,631,657,0.455517825214,0.00476032640513,0.0794911789742,0.999999654973,0.000270791931291,-0.00078214114743,-7.05807530546e-05,1793250371017962752
+225,3.750000000,POSE1_TO_POSE2_PRESS,769,746,720.045454891,695,653,638,891.954545109,785.954545109,823,653.954545109,631.045454891,657,0.455543670508,0.00475968806652,0.0794879385403,0.999999649989,0.00027130841448,-0.000788354610456,-7.00720475125e-05,1793250371034629376
+226,3.766666667,POSE1_TO_POSE2_PRESS,769,746,720.634443222,695,653,638,891.365556778,785.365556778,823,653.365556778,631.634443222,657,0.455564526131,0.00476051065035,0.0794885563622,0.999999650569,0.000270990501612,-0.000787754470292,-6.97797709553e-05,1793250371051296000
+227,3.783333333,POSE1_TO_POSE2_PRESS,769.220877333,746,720.779122667,695,653,638,891,785,823,653,632,656.779122667,0.455582550063,0.00476118998566,0.0794888627812,0.999999651194,0.000270182778173,-0.000787249437319,-6.96538344396e-05,1793250371067962368
+228,3.800000000,POSE1_TO_POSE2_PRESS,769.803132446,746,720.196867554,695,653,638,891,785,823,653,632,656.196867554,0.455595941061,0.00476163495177,0.0794886597135,0.999999651892,0.000268573674849,-0.00078690000942,-6.98000471663e-05,1793250371084628992
+229,3.816666667,POSE1_TO_POSE2_PRESS,769.62005974,746,720,695,653,637.62005974,891,785.37994026,823,653.37994026,632,656.37994026,0.455602491336,0.00476010773828,0.0794872292991,0.999999650718,0.000265880701292,-0.000789320528963,-6.95973491244e-05,1793250371101295872
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+231,3.850000000,POSE1_TO_POSE2_PRESS,769.540466226,746,720,695,653,637,891,785.459533774,823,654,631.459533774,657,0.45560832431,0.00475940824532,0.0794840334243,0.999999646757,0.000264877437479,-0.000794699315443,-6.91323463984e-05,1793250371134629376
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,746,720.126022568,695,653,637.126022568,891,785,823,654,631,656.873977432,0.455610675719,0.00476095267931,0.0794830670333,0.999999645132,0.000266735438181,-0.000796134976252,-6.89721529096e-05,1793250371151296000
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,746,720.70428606,695,653,637.70428606,891,785,823,654,631,656.29571394,0.455611586538,0.00476008655068,0.0794824307473,0.999999644091,0.000265492738061,-0.000797901570885,-6.84459045488e-05,1793250371167962624
+234,3.900000000,POSE1_TO_POSE2_PRESS,769.71708758,746,721,695,652.71708758,638,891,785,823,653.71708758,631.28291242,656.28291242,0.455613084536,0.00475934935596,0.079482351729,0.999999644096,0.000264993572568,-0.000798073157216,-6.83026367226e-05,1793250371184629248
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.138081374,746,721,695,652.138081374,638,891,785,823,653.138081374,631.861918626,656.861918626,0.455615197072,0.00475874710228,0.0794828559423,0.999999645199,0.000265272584078,-0.000796575421345,-6.85601930737e-05,1793250371201295872
+236,3.933333333,POSE1_TO_POSE2_PRESS,769,746,721,695,652,637.556027446,891,785.443972554,823,653.443972554,632,656.556027446,0.455615517154,0.00475967291159,0.0794829091572,0.999999644679,0.0002658507933,-0.000797032074305,-6.8600447163e-05,1793250371217962240
+237,3.950000000,POSE1_TO_POSE2_PRESS,769,746,720.973842517,695.026157483,652,637.026157483,891,786,823,653.973842517,632,656.026157483,0.455615266515,0.00476094786523,0.0794827574691,0.999999643669,0.000266381360229,-0.000798121778014,-6.85851663562e-05,1793250371234628864
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,746,720.408626294,695.591373706,652,637.591373706,891,786,823,653.408626294,632,656.591373706,0.455614822323,0.0047595563548,0.0794812937225,0.999999643068,0.000263999165181,-0.000799644427373,-6.88278208393e-05,1793250371251295488
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,746,720.165099745,695.834900255,652,637.834900255,891,785.834900255,823,653,632,657,0.455615069528,0.00475877903967,0.079480507856,0.999999642862,0.000262642009351,-0.00080035008706,-6.88155883457e-05,1793250371267962368
+240,4.000000000,POSE1_TO_POSE2_PRESS,769,746,720.761032376,695.238967624,652,637.238967624,891,785.238967624,823,653,632,657,0.455617120957,0.00475960448626,0.0794814909385,0.999999643702,0.000263959725173,-0.00079892378688,-6.81382203977e-05,1793250371284629248
+241,4.016666667,POSE1_TO_POSE2_PRESS,769,746,721,695,652.344369297,637,891.344369297,785.344369297,823.344369297,653.344369297,631.655630703,657,0.455617865778,0.00475849342185,0.0794818339936,0.999999644171,0.000262542088706,-0.00079883779307,-6.77259799996e-05,1793250371301296384
+242,4.033333333,POSE1_TO_POSE2_PRESS,769,746,721,695,652.91927409,637,891.91927409,785.91927409,823.91927409,653.91927409,631.08072591,657,0.4556177359,0.00475608597434,0.0794817485869,0.999999644387,0.000259293290703,-0.000799649057558,-6.74912273175e-05,1793250371317963008
+243,4.050000000,POSE1_TO_POSE2_PRESS,769,746,721,695,652.505926834,637.494073166,891.505926834,786,823.505926834,654,631,657,0.455617221943,0.00475873999881,0.0794813575889,0.999999643317,0.000261712750875,-0.000800171966928,-6.78061452882e-05,1793250371334629376
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,746,720.929499509,695,652,637.929499509,890.929499509,786,823,654,631.070500491,656.929499509,0.455616830809,0.0047616810246,0.0794810223743,0.999999642289,0.000264559885287,-0.000800493264258,-6.81139064514e-05,1793250371351295744
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+247,4.116666667,POSE1_TO_POSE2_PRESS,769,746,720,695,652,637.82664641,890.82664641,786,823,654,632,656.82664641,0.45561887469,0.00475792408017,0.0794804497554,0.999999643808,0.000260349046568,-0.000800049350762,-6.7256034083e-05,1793250371401295616
+248,4.133333333,HOLD_POSE2,770,746,721,695,653,638,891,786,823,654,632,657,0.455618804689,0.00476022227729,0.0794807495407,0.999999643686,0.000260418544097,-0.00080011811968,-6.7984958641e-05,1793250371435292160
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+250,4.166666667,HOLD_POSE2,769.15404322,746.15404322,721,695,652.84595678,638,891,785.15404322,823,654,631.84595678,657,0.455618000439,0.00475877430181,0.0794802991395,0.999999642785,0.000260723769892,-0.000801188704444,-6.74485852474e-05,1793250371468625152
+251,4.183333333,HOLD_POSE2,769.74558661,746.74558661,721,695,652.25441339,638,891,785.74558661,823,654,631.25441339,657,0.455619149052,0.00475837017292,0.0794799167466,0.999999643598,0.000258344716535,-0.000800923196821,-6.77056284447e-05,1793250371485291520
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+256,4.266666667,HOLD_POSE2,769,746,721,695.647020826,652,637.352979174,891,785.352979174,823.647020826,654,632,657,0.455620878813,0.0047574292984,0.0794812083133,0.999999644644,0.000258474810152,-0.000799640829208,-6.69180404931e-05,1793250371568625152
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+261,4.350000000,HOLD_POSE2,769.460186902,746,720.460186902,695.539813098,652,637.539813098,891,786,823.460186902,654,631.460186902,657,0.455621050264,0.00475827645952,0.0794803285367,0.999999643572,0.00025882107586,-0.000800845050332,-6.71906102514e-05,1793250371651958016
+262,4.366666667,HOLD_POSE2,769,746,720.117512696,695.882487304,652,637.882487304,891,786,823.117512696,654,631.117512696,657,0.455621410931,0.00476004721746,0.0794805263306,0.999999643299,0.000260796371463,-0.000800508622693,-6.76302611736e-05,1793250371668624640
+263,4.383333333,HOLD_POSE2,769,746,720.70637469,695.29362531,652,637.29362531,891,786,823.70637469,654,631.70637469,657,0.455621582845,0.00475841191797,0.0794810865272,0.999999644815,0.000258693522037,-0.000799338546561,-6.71298079464e-05,1793250371685291264
+264,4.400000000,HOLD_POSE2,769,746,721,695,652,637,891,786,823.708878753,654,632,656.708878753,0.455621549368,0.00475768509672,0.0794810568233,0.999999645194,0.000258286797398,-0.000799021782034,-6.68155621416e-05,1793250371701958144
+265,4.416666667,HOLD_POSE2,769,746,721,695,652,637,891,786,823.128225205,654,632,656.128225205,0.455621311623,0.00475786179531,0.0794804404386,0.999999644446,0.000259566940184,-0.00079955367179,-6.66865074648e-05,1793250371718625280
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,652,637,891,785,823,653,631,657,0.455622233475,0.00475582345321,0.0794801875547,0.999999644577,0.000255183307672,-0.000800771087204,-6.70368108605e-05,1793250371751362560
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,746,720,695,652,637.575140738,891,785.575140738,823,653.575140738,631.575140738,657,0.455621360986,0.00475502609167,0.0794797320449,0.99999964412,0.000255865656038,-0.000801141994354,-6.68105469312e-05,1793250371768028928
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,746,720.15535701,695,652,638,891,786,823.15535701,654,632,657,0.45562078047,0.00475486563512,0.0794795185828,0.999999643904,0.000256277836684,-0.000801283576939,-6.67644394647e-05,1793250371784695296
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,746,720.749922409,695,652,638,891,786,823.749922409,654,632,657,0.45562102539,0.0047565057667,0.0794799894112,0.999999644369,0.00025592622879,-0.00080077683823,-6.72276506417e-05,1793250371801361664
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769.332876265,746,720.667123735,694.667123735,652,637.667123735,891,786,824,654,631.667123735,657,0.455621333551,0.00475721730634,0.0794803235998,0.999999644438,0.00025621268909,-0.000800601822823,-6.71971875755e-05,1793250371818028032
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.907400798,746,720.092599202,694.092599202,652,637.092599202,891,786,824,654,631.092599202,657,0.455621687621,0.00475725474365,0.0794805585959,0.999999644219,0.000256962348778,-0.000800667618732,-6.6808346493e-05,1793250371834694912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.516804496,746,720.483195504,694.483195504,652,637,891,785.516804496,824,654,631,657,0.455622666307,0.00475677180158,0.079481326675,0.999999645008,0.000257205332072,-0.000799616462815,-6.66608175696e-05,1793250371851362048
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,769,746,721,695,652,637,890.349050937,785.650949063,824,654,631.650949063,657,0.455622943876,0.0047573646227,0.079481980241,0.999999646667,0.000257013794687,-0.000797586184913,-6.68256853452e-05,1793250371884695296
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769,746,720.76339754,695,652,637,890.23660246,786,823.76339754,653.76339754,632,657,0.455616525773,0.00475749892628,0.0794786213859,0.99999964316,0.000256029089158,-0.000802278631928,-6.69143713854e-05,1793250371901361920
+276,4.600000000,POSE2_TO_POSE3_RETREAT,769,746,720.184400607,695,652,637,890.815599393,786,823.184400607,653.184400607,632,657,0.455601749079,0.00475636342514,0.0794705690414,0.99999963344,0.000254042164304,-0.000814935635993,-6.67959642973e-05,1793250371918028288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,769.391702929,746,720,695,651.608297071,637,891,785.608297071,823,653,632,657,0.455571814059,0.00475596120484,0.0794583626111,0.999999615766,0.000255510365339,-0.000835950708286,-6.60984536287e-05,1793250371934694656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,769.96645439,746,720,695,651.03354561,637,891,785.03354561,823,653,632,657,0.45553479533,0.00475590165735,0.0794442149148,0.999999593894,0.000258593197145,-0.000860871629318,-6.51303193102e-05,1793250371951361280
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,746,721,695,652,637.2931325,891,786,823.2931325,654,632,656.7068675,0.455344915877,0.00475503374975,0.0794050542594,0.999999535361,0.000260404844847,-0.000926064773192,-6.22219965582e-05,1793250372001361408
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,746,721,695,652,637,891,786,823,654,631.704817145,657,0.455267479159,0.00475413819223,0.0794013088921,0.99999953193,0.000260935591319,-0.000929724162917,-6.05433476147e-05,1793250372018028288
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,769,746,721,695.448855463,652,637.448855463,891,785.551144537,823,654,631,656.551144537,0.455084285431,0.00475274790013,0.0794049363663,0.999999535508,0.000263492372055,-0.000925419754263,-5.61633103725e-05,1793250372051362048
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,769.611099714,746,720.388900286,695.388900286,652,637.388900286,891.611099714,785.611099714,823,654,631,656,0.454848926348,0.00475133105543,0.0794078776974,0.99999954073,0.00026899928403,-0.000918494449666,-5.04708893404e-05,1793250372084694784
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.225317808,746,720.774682192,695,652,637.774682192,891.225317808,785.225317808,823,654,631.774682192,656,0.454532055981,0.00474815477004,0.0794067058705,0.999999537896,0.000274027246281,-0.000920509992702,-4.21689642272e-05,1793250372118028288
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,746,720.646621139,695,652.353378861,637.646621139,891,785,823,654,632,656.353378861,0.454343018837,0.00474688241967,0.0794060452273,0.99999953624,0.0002771650284,-0.000921574487577,-3.74058910667e-05,1793250372134694912
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,746,720.068002408,695,652.931997592,637.068002408,891,785,823,654,632,656.931997592,0.454143170413,0.00474607981262,0.0794054812502,0.999999535124,0.000280731227482,-0.00092188949565,-3.25943363802e-05,1793250372151361536
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,746,720.506063701,695,653,637,891,785,823,654,631.493936299,657,0.453911386288,0.00474333005572,0.0794041083842,0.999999533219,0.000284850274132,-0.000922888541159,-2.64428294826e-05,1793250372168028416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,746,721,695,653.08164327,637.08164327,891,785.08164327,823,654,631.08164327,657,0.45367169468,0.00474063425391,0.0794034987086,0.999999531633,0.000289834346767,-0.000923216936428,-2.00031694054e-05,1793250372184695040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,746,721,695,653.670389379,637.670389379,891,785.670389379,823,654,631.670389379,657,0.453409304894,0.00473988423952,0.0794082984671,0.999999532887,0.000299733962421,-0.000918813959374,-1.28821239995e-05,1793250372201361664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746,721,695.255996074,653.744003926,638,891,786,823,653.744003926,631.744003926,657,0.45312493233,0.00473829149152,0.0794157455405,0.999999540567,0.000309048204524,-0.000907373792234,-5.3460006737e-06,1793250372218028288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,746,721,695.837609518,653.162390482,638,891,786,823,653.162390482,631.162390482,657,0.452812598517,0.00473562681814,0.0794265598986,0.999999556187,0.000317617872836,-0.000886982584259,2.71808571524e-06,1793250372234694656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,746,720.584381419,695.584381419,653.415618581,638,890.584381419,786,822.584381419,653.415618581,631.415618581,657,0.452477377931,0.00473239104647,0.0794363579764,0.999999567526,0.000322519384796,-0.0008722563535,9.89703715636e-06,1793250372251361280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,746,720.007768566,695.007768566,653.992231434,638,890.007768566,786,822.007768566,653.992231434,631.992231434,657,0.452133291918,0.00472893405388,0.0794457623869,0.999999577159,0.000325999997212,-0.000859724512278,1.67331219839e-05,1793250372268027904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769.567516585,746.567516585,720.567516585,695.567516585,654,638,890.567516585,786,822,654,632,657,0.451751348993,0.00472613791966,0.0794580257724,0.99999959194,0.000324537972239,-0.000842811064323,2.15325397023e-05,1793250372284695040
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+300,5.000000000,POSE2_TO_POSE3_RETREAT,769.264654922,746.264654922,720.264654922,696,654.735345078,638,890.264654922,786,821.264654922,654,632,657,0.450961769907,0.00471758214576,0.0794904456517,0.999999647591,0.000276347576432,-0.000792572815065,1.66585872111e-05,1793250372318028800
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768.437549557,746,721.562450443,694.437549557,662.437549557,640.437549557,890,787,820,653.562450443,631,656.562450443,0.441807831994,0.00461048716433,0.0796958831984,0.999999863355,0.000211487161756,-0.000476428461945,3.97262042069e-05,1793250372568028160
+316,5.266666667,POSE2_TO_POSE3_RETREAT,769,746.014327328,721,695,663,641,889.985672672,787.014327328,820,653,631,656,0.441022036413,0.00459713362873,0.0797109276373,0.99999988504,0.000172476035332,-0.00044556065488,4.05929885802e-05,1793250372584694784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769,746.58921227,721,695,663,641,889.41078773,787.58921227,820,653,631,656,0.440157001705,0.00458844694746,0.0796726487642,0.999999857896,0.000156562195427,-0.000507784232831,4.30273046951e-05,1793250372601361664
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769,747,721,694.831333008,663.168666992,641,889.168666992,788,820,653.168666992,631.168666992,656,0.439310982868,0.00457912182242,0.0796497601241,0.999999841172,0.000147790187882,-0.000542052018996,4.46598036097e-05,1793250372618028544
+319,5.316666667,POSE2_TO_POSE3_RETREAT,769,747,721,694.240438706,663.759561294,641,889.759561294,788,820,653.759561294,631.759561294,656,0.438512566882,0.00456819846937,0.0796653981517,0.999999858522,0.000156896468262,-0.000506337536534,4.42850983688e-05,1793250372634695168
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.656776134,746.656776134,721,694,664,641,889.656776134,787.656776134,820,654,631.656776134,656,0.437719345624,0.00455816208221,0.0797259707897,0.999999902752,0.000143367831535,-0.000414613603642,4.51322254433e-05,1793250372651361536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768.078075091,746.078075091,721,694,664,641,889.078075091,787.078075091,820,654,631.078075091,656,0.43692968837,0.00454873422026,0.0798173719219,0.999999951911,0.000114309950775,-0.000284463005186,4.68176200413e-05,1793250372668027904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,721,694,664,641,889,787,820,653.503738322,631,656,0.436065241571,0.0045377162993,0.079858927502,0.999999967374,0.000120857755747,-0.000219272288637,5.06461657618e-05,1793250372684694528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746,721,694,664,641,889,787.071759931,819.928240069,653,631,656,0.435184290066,0.00452641616134,0.0798844635567,0.999999974637,0.000128668666656,-0.000176721068045,5.42233295738e-05,1793250372701361152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,721,694,664,641,889,787.660529812,819.339470188,653,631,656,0.43426846164,0.00451486934353,0.0798505904743,0.999999967838,0.00010557294835,-0.000224291378387,5.3581287919e-05,1793250372718028032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,721,693.755261219,664.244738781,641,888.755261219,788,819,653,631,656,0.433313032963,0.00450506017375,0.0798064409675,0.999999949764,9.434698545e-05,-0.000297848827716,5.34409721754e-05,1793250372734694656
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,721,693.177262743,664.822737257,641,888.177262743,788,819,653,631,656,0.432303680671,0.00449761714985,0.0797482980949,0.999999910874,9.9284011331e-05,-0.000406792852481,5.39838539663e-05,1793250372751361792
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,721,693.398345658,664.601654342,641,888.398345658,788,819,653,631,656,0.431323255747,0.00448582866262,0.0797136148546,0.999999883217,8.3745441715e-05,-0.000472678966967,5.59210049884e-05,1793250372768028672
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,721,693.97289679,664.02710321,641,888.97289679,788,819,653,631,656,0.430355626707,0.00447211798989,0.0796893088255,0.999999861591,5.91496324919e-05,-0.000519518703592,5.84749014785e-05,1793250372784695296
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.551933765,746,721,693.448066235,664.551933765,641,889,787.448066235,819,653.551933765,631,656,0.42949160563,0.00445766266834,0.0797656738384,0.999999923038,5.32659469843e-05,-0.0003842683975,5.85127416861e-05,1793250372801361664
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768.86688992,746,721,693,664.86688992,641,889,787,819,653.86688992,631,656,0.428625193147,0.00444415198789,0.0798336498101,0.999999962092,4.59385501272e-05,-0.00026502652765,5.88831894137e-05,1793250372818027776
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.279165589,746,721,693,664.279165589,641,889,787,819,653.279165589,631,656,0.427733094521,0.00443399347535,0.0798559523147,0.999999970947,3.05164371986e-05,-0.000231247753018,6.08150358246e-05,1793250372834694656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,721,692.694762597,664,641,889,787.305237403,819,653,631,655.694762597,0.426791246933,0.00442333910578,0.0798376263962,0.999999963905,1.66585111019e-05,-0.000261178522749,6.08124613095e-05,1793250372851361280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,721,692.113364586,664,641,889,787.886635414,819,653,631,655.113364586,0.425804389499,0.00441223611488,0.079782542301,0.999999937434,4.21576876099e-06,-0.000348749891211,5.90597376341e-05,1793250372868027904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,721,692.461323198,664,641,888.538676802,787.538676802,819,653,631,655.461323198,0.424824709421,0.0044094884345,0.0797497402599,0.999999919205,6.32874931934e-07,-0.000397459357278,6.01278728551e-05,1793250372884694784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,721,693,664,641.035361184,888,787.035361184,819,653,631,656,0.4238503289,0.00441076659769,0.0797240009118,0.99999990369,1.85733658688e-06,-0.000434525459185,6.16803952641e-05,1793250372901361920
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,721,693,664,641.624680671,888,787.624680671,819,653,631,656,0.422931736631,0.00444340853501,0.0797243552208,0.999999901859,4.47740650798e-05,-0.000436650086667,6.01175315193e-05,1793250372918028544
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,721,692.789875782,664.210124218,641.789875782,888,787.789875782,819,653,631,656,0.422052620861,0.00446466610131,0.0797492819119,0.999999918208,7.29629433791e-05,-0.000393400643733,5.9122305586e-05,1793250372934694912
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,721,692.211229871,664.788770129,641.211229871,888,787.211229871,819,653,631,656,0.421242739921,0.00446595744671,0.0798173043295,0.999999958811,7.53217151524e-05,-0.000270572892023,5.91226179163e-05,1793250372951361280
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,721,691.633528726,664.633528726,641,887.633528726,787,819,653,631,656,0.420399133937,0.00445934565949,0.0798495487933,0.999999972762,6.57367856655e-05,-0.000216061600525,5.89188929421e-05,1793250372968027904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,721,691.056370766,664.056370766,641,887.056370766,787,819,653,631,656,0.419536139258,0.00444819031058,0.079861224278,0.999999976903,4.92853460422e-05,-0.000200825888559,5.85978659396e-05,1793250372984694528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,721,691.517860862,664,641,887,787,819,653,631,656.517860862,0.418621770095,0.00443997948102,0.0798178402889,0.999999959068,4.11801991969e-05,-0.000277111949254,5.81147563564e-05,1793250373001361152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.094276724,746,721,691.905723276,664,641,887,787.094276724,819,653,631,656.905723276,0.41771681132,0.00443335143704,0.0797791647316,0.999999937744,3.54694627107e-05,-0.000346254991833,5.79695572604e-05,1793250373018028032
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768.683831362,746,721,691.316168638,664,641,887,787.683831362,819,653,631,656.316168638,0.4168905032,0.00443336410161,0.0797965337505,0.999999944429,3.75915956168e-05,-0.000325829536798,5.96917222858e-05,1793250373034694912
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,721,691,664,641.268443538,887,787.731556462,819,653,631,656,0.416056328793,0.00443907133808,0.0797968176629,0.999999941799,4.61991032056e-05,-0.000332516972006,6.08326982798e-05,1793250373051361536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,769,746,721,691,664,641.847339756,887,787.152660244,819,653,631,656,0.415213057151,0.0044513642988,0.0797773427931,0.999999927523,6.23068915755e-05,-0.000370560236593,6.13015339021e-05,1793250373068028416
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768.575750269,746,721,690.575750269,664,641.575750269,887,787,819,653,631,656,0.414447754981,0.00445635291741,0.0797726858953,0.99999992724,7.01335985288e-05,-0.000370235201497,5.93972818136e-05,1793250373084695040
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.999552954,745.999552954,721,689.999552954,664,641,887,787,819,653,631.000447046,656,0.41371039719,0.00445871531986,0.0797733511793,0.999999932163,7.49675417343e-05,-0.00035615307197,5.66459477198e-05,1793250373101361152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.425047636,745.425047636,721,689.425047636,664,641,887,787,819,653,631.574952364,656,0.412997401967,0.00444810738751,0.0797932676677,0.99999994527,4.53609323723e-05,-0.000322626751174,5.75683321472e-05,1793250373118027776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.154371444,745,721,689,664,641,887,787,819,653,631.845628556,656,0.412277608621,0.00443929403648,0.0798046909395,0.999999951157,2.92804243355e-05,-0.000305627965193,5.84845586931e-05,1793250373134694656
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.747765072,745,721,689,664,641,887,787,819,653,631.252234928,656,0.411538481699,0.00443558435361,0.0797919600692,0.999999940578,5.16672478167e-05,-0.000335632389416,5.93832730773e-05,1793250373151361280
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745,721,689,664.331350159,641,887,787,819,653.331350159,631,656,0.410840433938,0.0044389365665,0.0797840184132,0.999999934468,5.79343166933e-05,-0.000352395978751,5.93673520916e-05,1793250373168028160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,721,689,664.90768329,641,887,787,819,653.90768329,631,656,0.410172758004,0.00444750997583,0.0797796176525,0.999999932338,5.22832811321e-05,-0.000359369985991,5.86751975554e-05,1793250373184695040
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745.483906482,720.516093518,689,664.516093518,641,887,787,819,653.516093518,631,656,0.409577655723,0.00445439544222,0.079801442865,0.999999945371,6.60542544426e-05,-0.000318463752947,5.89551742309e-05,1793250373201361408
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.061324501,745.938675499,720.061324501,688.877350998,664,641,886.938675499,787,819,653,631.061324501,656,0.408995946376,0.00445995761558,0.0798262352886,0.999999957698,8.09297474943e-05,-0.000272979076928,5.9465503399e-05,1793250373218028288
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.649181358,745.350818642,720.649181358,687.701637285,664,641,886.350818642,787,819,653,631.649181358,656,0.408410381221,0.00445692218826,0.0798335562033,0.999999959942,7.34829190776e-05,-0.000266593181995,6.03616663614e-05,1793250373234694912
+356,5.933333333,POSE2_TO_POSE3_RETREAT,769,745.233508456,721,687,664,641.233508456,886.233508456,787,819,653,632,656,0.407821413012,0.00445311246236,0.0798210292472,0.999999953051,6.4858784844e-05,-0.000293298904245,6.05517895397e-05,1793250373251361536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,769,745.812611431,721,687,664,641.812611431,886.812611431,787,819,653,632,656,0.407227408307,0.00444815676821,0.0797791272713,0.99999992866,5.44922282939e-05,-0.000368980503241,5.96969674601e-05,1793250373268028160
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.610082573,745.610082573,721,687.389917427,664,641.610082573,886.610082573,787,819,653,632,656,0.406703511896,0.00444608545197,0.0797615167128,0.999999918773,5.87906098746e-05,-0.000394418722088,5.85766539206e-05,1793250373284694528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.033636166,745.033636166,721,687.966363834,664,641.033636166,886.033636166,787,819,653,632,656,0.406213153889,0.00444539396608,0.0797555266964,0.999999917562,7.01044143212e-05,-0.000395821483842,5.7329334412e-05,1793250373301361152
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.541881316,745,721,687.458118684,664,641,886,787,819,653,632,656,0.405798548219,0.0044532656648,0.0797773654182,0.999999934866,6.91948660145e-05,-0.000349730925058,5.62941771561e-05,1793250373318027776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.879950522,745.120049478,721,687,664.120049478,641,886,787,819,653,631.879950522,656,0.405389125427,0.00446111000825,0.0797989411018,0.999999948402,7.10347565658e-05,-0.000308290448836,5.57429331259e-05,1793250373334694400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768.29120878,745.70879122,721,687,664.70879122,641,886,787,819,653,631.29120878,656,0.404981610696,0.0044667758815,0.0798127573007,0.999999950672,8.65660640141e-05,-0.000296494582567,5.70296354962e-05,1793250373351361280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745.706724884,721,687,665,641,886,787,819,653,631.293275116,656,0.404592000577,0.0044688105373,0.0798232866004,0.999999952062,9.60532758997e-05,-0.000288566124469,5.81405984681e-05,1793250373368027904
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745.126408367,721,687,665,641,886,787,819,653,631.873591633,656,0.404219914522,0.00446729115872,0.0798305988649,0.999999952844,9.96248616823e-05,-0.000284422871565,5.90795574108e-05,1793250373384694528
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,721,686.553528209,664.553528209,641,886.446471791,787,819,653.446471791,632,656,0.40387872481,0.00446655934035,0.0798309839664,0.999999951664,9.87100515469e-05,-0.000288480593903,6.08798809418e-05,1793250373401361152
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886.982484339,787,819,653.982484339,631.982484339,656,0.403547622983,0.00446598634142,0.079829503358,0.99999995003,9.60243651161e-05,-0.000294593165221,6.27225221807e-05,1793250373418027776
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886.403923993,787,819,653.403923993,631.403923993,656,0.403264042134,0.00446347523049,0.0798300544094,0.999999952335,7.66356166083e-05,-0.0002933696297,5.82370259359e-05,1793250373434694144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818.820838389,653,631.179161611,656,0.40298887336,0.00446097691203,0.0798304016269,0.999999953368,6.21812309736e-05,-0.00029375298277,5.57306258669e-05,1793250373451360768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818.227286204,653,631.772713796,656,0.402733161274,0.00445850818219,0.0798302773882,0.999999952223,5.91397476562e-05,-0.000297852977786,5.78017629111e-05,1793250373468027648
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818.352011993,653,632,656.352011993,0.402509209268,0.00445655911631,0.0798302676477,0.999999952246,5.49082270578e-05,-0.000298319960344,5.91489977551e-05,1793250373484694784
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641,886,787,818.922464939,653,632,656.922464939,0.402304965946,0.00445493252753,0.0798303289589,0.999999952985,4.99382288336e-05,-0.00029653247835,6.00470154751e-05,1793250373501362432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.50182756,745,721,686,664,641,886,787,819,653,632,656.49817244,0.402131466308,0.0044550214864,0.0798351523616,0.999999955789,4.825408105e-05,-0.000287153100351,6.02964091488e-05,1793250373518028544
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.916129148,745,721,686,664,641,886,787,818.916129148,653,632,656,0.401966643809,0.00445549396611,0.0798403591041,0.999999958425,4.85620720082e-05,-0.000277703180919,6.06060755934e-05,1793250373534694656
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28024cd645d5548b82b6c680efc838ca84b62b75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+401,6.683333333,pose2_to_pose3_retreat,0.575665415826,0.0101500852306,1.07003333709,0.546236095227,0.0188227225063,1.0697047406
+402,6.700000000,pose2_to_pose3_retreat,0.57566525862,0.0101500839853,1.07003333836,0.546235938081,0.0188227214499,1.06970474161
+403,6.716666667,pose2_to_pose3_retreat,0.575665118512,0.010150082972,1.07003334039,0.546235798017,0.0188227205776,1.06970474334
+404,6.733333333,pose2_to_pose3_retreat,0.575665006455,0.0101500855556,1.07003337333,0.546235685739,0.0188227223156,1.06970477372
+405,6.750000000,pose2_to_pose3_retreat,0.575664865624,0.0101500888025,1.07003341472,0.546235544631,0.0188227244998,1.06970481191
+406,6.766666667,pose2_to_pose3_retreat,0.575664840689,0.0101500893774,1.07003342205,0.546235519647,0.0188227248865,1.06970481867
+407,6.783333333,pose2_to_pose3_retreat,0.575664654596,0.010150093668,1.07003347675,0.546235333188,0.0188227277727,1.06970486913
+408,6.800000000,pose2_to_pose3_retreat,0.575664543417,0.0101500962313,1.07003350942,0.54623522179,0.018822729497,1.06970489928
+409,6.816666667,pose2_to_pose3_retreat,0.575664471361,0.0101501289854,1.0700335205,0.546235149314,0.0188227608166,1.06970491008
+410,6.833333333,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532845,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebc1fa0ddcf70fe60b1dc5489ea4ce69b3f40398
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9e3fd59272aac1a01eb73352c601371a5ce86a73491229df72df684bd5760a3
+size 26138705
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f49e8d0b74bbc335c27f3b8b096af2642110ab6f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,769,745,721,686,665,641,886,787,818,653,632,656,0.400969471123,0.00449063914039,0.0798312891858,0.999999949148,0.000125208800954,-0.000288899239459,5.06356931967e-05,1793250374307551488
+1,0.016666667,BASELINE,768.423177986,745,721,685.423177986,664.423177986,641,886,787,818.576822014,653,632,656,0.400969898007,0.00448973286871,0.0798313266777,0.999999949902,0.000122402059537,-0.00028752478981,5.04235024687e-05,1793250374324218112
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+3,0.050000000,BASELINE,768,745,721,685.726818851,664,641,886,787,818.273181149,653,632,656,0.400970374346,0.00448994017495,0.0798322577283,0.999999950187,0.000122132696068,-0.000286671245701,5.02899781084e-05,1793250374357551616
+4,0.066666667,BASELINE,768,745,721,686,664.309060066,641,886,787.309060066,818.309060066,653,632,656,0.400970749766,0.00449041191318,0.0798326052443,0.999999950153,0.000122961374563,-0.000286440888171,5.02584401503e-05,1793250374374218240
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+7,0.116666667,BASELINE,768,744.936574335,721,686,664,641.063425665,886,787,818,653,632,656,0.400971563762,0.00448935866646,0.0798336901762,0.99999995092,0.000119049949067,-0.000285427190784,5.01929294345e-05,1793250374424218368
+8,0.133333333,BASELINE,768,744.362469335,721,686,664,641.637530665,886,787,818,653,632,656,0.400969548355,0.00448923559511,0.0798323527205,0.999999950151,0.000120706074025,-0.000287432312392,5.01138967633e-05,1793250374440885760
+9,0.150000000,BASELINE,768,744.212033125,721,686,664.212033125,642,886,787,818.212033125,653,632,656,0.400968594759,0.00448916004127,0.0798316709701,0.999999949701,0.000122100975193,-0.000288406173662,5.01149116142e-05,1793250374457552384
+10,0.166666667,BASELINE,768,744.787216261,721,686,664.787216261,642,886,787,818.787216261,653,632,656,0.400969459731,0.00448916587087,0.0798321122492,0.999999949806,0.000123048477134,-0.000287613790886,5.0253024195e-05,1793250374474218240
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+12,0.200000000,BASELINE,768.963937804,745,721,686,665,641.036062196,886,787,818.036062196,653,632,656,0.4009696074,0.00449083725636,0.0798312007526,0.999999949585,0.000123979454901,-0.000287959489479,5.03893051452e-05,1793250374507552000
+13,0.216666667,BASELINE,769,745,721,685.457157342,664.457157342,641,886,787,818,653,632,656,0.400968748841,0.00449098319132,0.079831299635,0.999999949423,0.000124454018347,-0.00028833206567,5.03056258402e-05,1793250374524218624
+14,0.233333333,BASELINE,768.879595272,745,721,685.120404728,664,641,886.120404728,787,818,653,632,656,0.400968265436,0.00449063406869,0.079831588626,0.999999949495,0.000124259346273,-0.000288182497329,5.02008598724e-05,1793250374540885504
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+17,0.283333333,BASELINE,768,745,721,686,664.864448894,641,886.135551106,787,818,653,632,656,0.40096831229,0.00448850952984,0.0798316992727,0.999999950227,0.000118774041722,-0.000287940336618,5.0292545251e-05,1793250374590885120
+18,0.300000000,BASELINE,768,745,721,686,665,641,886,787.445258659,818.445258659,653,632,656,0.400968174687,0.00448926636459,0.079831396815,0.999999949915,0.000120611616392,-0.000288267157429,5.02407852676e-05,1793250374607551488
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+20,0.333333333,BASELINE,768,745.603271648,721,686,665,641.603271648,886,787.396728352,818.396728352,653,631.396728352,656,0.400970950079,0.00448898880075,0.0798330589399,0.999999950837,0.000120212466322,-0.000285227613607,5.02051493909e-05,1793250374640884736
+21,0.350000000,BASELINE,768,745.819202584,721,685.819202584,664.819202584,641.819202584,886,787,818.180797416,653,631.180797416,656,0.400971948598,0.00448891091097,0.0798338218353,0.999999951219,0.000119287090348,-0.000284262729967,5.02631241347e-05,1793250374657551872
+22,0.366666667,BASELINE,768,745.245231263,721,685.245231263,664.245231263,641.245231263,886,787,818.754768737,653,631.754768737,656,0.400969645052,0.00449082851074,0.0798324538859,0.999999950002,0.000122483273965,-0.000287173627149,5.0255356123e-05,1793250374674219008
+23,0.383333333,BASELINE,768.33840835,745,721,685,664,641,886.33840835,787,818.66159165,653,632,655.66159165,0.400968206739,0.00449091359126,0.0798316912157,0.999999949492,0.000123044767304,-0.000288697658868,5.02926161192e-05,1793250374690885376
+24,0.400000000,BASELINE,768.92926031,745,721,685,664,641,886.92926031,787,818.07073969,653,632,655.07073969,0.400967413868,0.00448963166144,0.0798313800675,0.999999949519,0.000121640852246,-0.000289187126222,5.03634658089e-05,1793250374707551488
+25,0.416666667,BASELINE,769,745,721,685.509572512,664.509572512,641,886.490427488,787,818.509572512,653,632,655.509572512,0.400967760313,0.004489771091,0.0798316251568,0.999999949633,0.000121533517905,-0.000288855978209,5.02548594175e-05,1793250374724218112
+26,0.433333333,BASELINE,768.912238968,745,721,686,665,641,886,787,818.912238968,653,632,656,0.400968258314,0.00449023884381,0.0798319259396,0.999999949717,0.000122003974703,-0.000288386851903,5.01485916157e-05,1793250374740884736
+27,0.450000000,BASELINE,768.33787703,745,721,686,665,641,886,787,818.33787703,653,632,656,0.400968737456,0.00449145515436,0.0798321160553,0.999999949559,0.00012470028922,-0.000287771527147,5.01906207535e-05,1793250374757551360
+28,0.466666667,BASELINE,768,745,721,686,664.763137584,641.236862416,886.236862416,787.236862416,818.236862416,653,632,656,0.400968415755,0.00449216343786,0.0798318165461,0.99999994934,0.000125828166568,-0.000288059049928,5.0088964423e-05,1793250374774217984
+29,0.483333333,BASELINE,768,745,721,686,664.18785881,641.81214119,886.81214119,787.81214119,818.81214119,653,632,656,0.400966949853,0.0044921458794,0.079830817487,0.999999949039,0.000124715144564,-0.000289636513048,4.97820179735e-05,1793250374790884864
+30,0.500000000,BASELINE,768.397746499,745,721,685.602253501,664.397746499,641.602253501,886.602253501,787.602253501,818.602253501,653,632,656,0.400967659489,0.0044910415863,0.079831490953,0.999999949343,0.000123957528434,-0.000288881098108,4.99650329885e-05,1793250374807551744
+31,0.516666667,BASELINE,768.988359097,745,721,685.011640903,664.988359097,641.011640903,886.011640903,787.011640903,818.011640903,653,632,656,0.400969424037,0.0044894103388,0.0798329754214,0.999999949937,0.000123372247591,-0.00028699447746,5.03856288753e-05,1793250374824218624
+32,0.533333333,BASELINE,768.432707641,745,721,685.567292359,665,641,886,787,818.567292359,653,632,656.567292359,0.400970113484,0.00448872232015,0.0798332645792,0.999999950789,0.000120620044483,-0.000285246510063,5.00815629053e-05,1793250374840884992
+33,0.550000000,BASELINE,768.144920901,745,721,686,665,641,886,787,818.855079099,653,632,657,0.400970142423,0.00448896283582,0.0798332464907,0.999999951101,0.000119687605284,-0.000284579442617,4.98767999564e-05,1793250374857551360
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+39,0.650000000,BASELINE,768.373239393,745,721,685.626760607,665,641.373239393,886,787,818.373239393,653,632,656.373239393,0.400968838516,0.00449153220042,0.0798327503438,0.999999950054,0.000123062984384,-0.000286834098018,4.97433915528e-05,1793250374957552384
+40,0.666666667,BASELINE,768,745,721,686,665,641,886,787,818,653,632,656,0.400969590842,0.0044916491639,0.079833255824,0.999999950282,0.000123025237327,-0.000286050363658,4.97607916553e-05,1793250374974219008
+41,0.683333333,BASELINE,768,745,721,686,665,641,886,787,818,653,632,656,0.400970927501,0.00449217324648,0.0798345064621,0.999999950372,0.000126479022238,-0.000284167902919,5.00671079054e-05,1793250374990885376
+42,0.700000000,BASELINE,768.359389967,745,721,686,664.640610033,641,886,787,818.359389967,653,632,656,0.400970472572,0.00449150784902,0.0798339519304,0.999999950376,0.0001255803159,-0.000284528445518,5.02130631124e-05,1793250375007551744
+43,0.716666667,BASELINE,768.952443435,745,721,686,664.047556565,641,886,787,818.952443435,653,632,656,0.400968852812,0.00449006909086,0.079832223737,0.999999950316,0.000121851763207,-0.000286347314964,5.0254756847e-05,1793250375024218368
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+47,0.783333333,BASELINE,769,745,721,686,664.264273198,641,886,787,818.264273198,653,631.264273198,656,0.400969785429,0.00449184041728,0.0798328833017,0.999999950563,0.00012313850828,-0.000285051314672,4.95726151525e-05,1793250375090885376
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+52,0.866666667,BASELINE,768,745,721,686,665,641.165604013,886,787,819,653,632,656,0.400969907111,0.00449091727217,0.0798338850353,0.999999950726,0.000123673955719,-0.000284126329021,5.02445622002e-05,1793250375174218240
+53,0.883333333,BASELINE,768,745,721,686,665,641.742161897,886,787,819,653,632,656,0.400969168683,0.00449135459129,0.0798332488733,0.999999950137,0.000124478722007,-0.000285833085699,5.03125057883e-05,1793250375190884864
+54,0.900000000,BASELINE,768.324091434,745,721,686,665,641.675908566,886,787,819,653,632,656,0.400969122792,0.00449104366148,0.0798329839137,0.99999995025,0.000123579646502,-0.000285859452954,5.01205441348e-05,1793250375207551488
+55,0.916666667,BASELINE,768.910366505,745,721,686,665,641.089633495,886,787,819,653,632,656,0.40096963715,0.00449012741286,0.0798330192498,0.999999950929,0.000121302196243,-0.000284526417916,4.9718324216e-05,1793250375224218112
+56,0.933333333,BASELINE,769,745,721,686,665,641,886,787,819,653,632,656,0.400968569603,0.00448949681274,0.0798322684628,0.999999950685,0.00011999233876,-0.000285965129669,4.95602688923e-05,1793250375240884992
+57,0.950000000,BASELINE,768.924994395,745,721,686,665,641.075005605,886,787,819,653.075005605,631.924994395,656,0.400967661366,0.00448919092144,0.0798317050965,0.999999950343,0.000119619281425,-0.000287319597815,4.95207620027e-05,1793250375257551616
+58,0.966666667,BASELINE,768.350931362,745,721,686,665,641.649068638,886,787,819,653.649068638,631.350931362,656,0.400969712719,0.00449070249639,0.0798333327591,0.999999950472,0.000124317398588,-0.000284785125507,4.99768273628e-05,1793250375274218496
+59,0.983333333,BASELINE,768.223962115,745,721,686,665,642,886,787,819,653.776037885,631.223962115,656,0.400970499083,0.00449176961293,0.0798341332339,0.99999995043,0.000127170897663,-0.0002836319642,5.02041338487e-05,1793250375290885120
+60,1.000000000,BASELINE,768.800161762,745,721,686,665,642,886,787,819,653.199838238,631.800161762,656,0.40096929593,0.00449213770552,0.0798336327451,0.999999950153,0.000127123265169,-0.000284651266277,5.0071658746e-05,1793250375307551744
+61,1.016666667,BASELINE,769,745.385634355,721,686,665,642,886,787,818.614365645,653,632,656.385634355,0.400968758606,0.00449149756213,0.0798332330025,0.999999950102,0.000126112623607,-0.000285256614666,5.0198938508e-05,1793250375324218112
+62,1.033333333,BASELINE,769,745.976030608,721,686,665,642,886,787,818.023969392,653,632,656.976030608,0.400968574822,0.00449032207141,0.0798328867535,0.99999995017,0.000124590649065,-0.000285642164259,5.04641414125e-05,1793250375340884736
+63,1.050000000,BASELINE,769,745.446154739,721,686,665,641.446154739,886,787,818,653,631.446154739,656.446154739,0.400970096003,0.00448983179582,0.079833885869,0.999999950755,0.000123899590612,-0.000283923689246,5.02573830225e-05,1793250375357551360
+64,1.066666667,BASELINE,769,745.130485788,721.130485788,686,665,641,886,787,818,653,631.130485788,656,0.400971352558,0.00448968384974,0.0798346852647,0.999999951239,0.000123437641395,-0.000282452153861,5.00641561741e-05,1793250375374218240
+65,1.083333333,BASELINE,769,745.704942895,721.704942895,686,665,641,886,787,818,653,631.704942895,656,0.400971463258,0.00449060200468,0.0798346114176,0.999999951311,0.000123635588797,-0.000282123757555,4.99849231378e-05,1793250375390884864
+66,1.100000000,BASELINE,768.713506903,745.713506903,721.713506903,686,665,641,886,787,818.286493097,653.286493097,632,656,0.400971346123,0.00449087295057,0.079834091614,0.999999951174,0.000123776314616,-0.000282571535064,4.98540563059e-05,1793250375407551232
+67,1.116666667,BASELINE,768.124466157,745.124466157,721.124466157,686,665,641,886,787,818.875533843,653.875533843,632,656,0.400970988388,0.00449046041893,0.0798331008634,0.999999950814,0.000123856612244,-0.000283838981779,4.96686622193e-05,1793250375424218112
+68,1.133333333,BASELINE,768.456135815,745,721,685.543864185,665,641,885.543864185,787.456135815,819,653.543864185,632,656,0.400971244749,0.00449079728162,0.0798337836906,0.999999950897,0.000125022529522,-0.000282994937875,4.98920853514e-05,1793250375440884992
+69,1.150000000,BASELINE,769,745,721,685.034407079,665,641.034407079,885.068814157,787.965592921,819,653,632,656,0.400971638042,0.00449126686967,0.0798348660009,0.999999951094,0.000126290689871,-0.000281679438292,5.01935358313e-05,1793250375457551616
+70,1.166666667,BASELINE,769,745,721,685.611575946,665,641.611575946,886.223151891,787.388424054,819,653,632,656,0.400971596067,0.00449066301858,0.0798351770481,0.99999995127,0.000124583581247,-0.00028185059298,4.99980727636e-05,1793250375474217984
+71,1.183333333,BASELINE,769,745.188478221,721,685.811521779,665,642,886.811521779,787,818.811521779,653,632,656,0.400971397466,0.00449070593761,0.0798352878627,0.999999951296,0.000123973264282,-0.000282030577088,4.99643322689e-05,1793250375490884864
+72,1.200000000,BASELINE,769,745.764831974,721,685.235168026,665,642,886.235168026,787,818.235168026,653,632,656,0.400970876539,0.00449207986601,0.0798349866122,0.99999995102,0.00012562007065,-0.000282228731583,5.02634059432e-05,1793250375507552512
+73,1.216666667,BASELINE,768.651272182,745.651272182,721,685.348727818,665,642,886,787.348727818,818,653,632,656,0.400971248788,0.00449237493794,0.079835061405,0.999999951045,0.00012582958663,-0.00028206170209,5.0174252209e-05,1793250375524219136
+74,1.233333333,BASELINE,768.06217786,745.06217786,721,685.93782214,665,642,886,787.93782214,818,653,632,656,0.400972236673,0.00449192638985,0.0798353953919,0.999999951279,0.000125048425977,-0.000281642963389,4.98175061958e-05,1793250375540885760
+75,1.250000000,BASELINE,768.519174577,745,721,685.480825423,665,641.480825423,886,787.480825423,818.519174577,653,632,656.519174577,0.400970348115,0.00449111196244,0.0798340893554,0.999999950812,0.000124072628967,-0.000283743851208,4.97163445512e-05,1793250375557551872
+76,1.266666667,BASELINE,769,745,721,685,665,641.098415347,886,787.098415347,819,653,632,656.901584653,0.40096871493,0.00449042156244,0.0798330517755,0.999999950436,0.000123275286969,-0.000285416490394,4.96768478935e-05,1793250375574218496
+77,1.283333333,BASELINE,769,745,721,685,665,641.671872986,886,787.671872986,819,653,632,656.328127014,0.400969952808,0.0044905382336,0.0798342441555,0.99999995093,0.000123450194961,-0.00028358685308,4.97894240821e-05,1793250375590884864
+78,1.300000000,BASELINE,768.754186663,745,721,685,665,641.754186663,886,787.754186663,818.754186663,653,632,656,0.400970690942,0.00449051489368,0.0798347763556,0.999999951237,0.000123593098537,-0.00028241897625,4.99116634573e-05,1793250375607551232
+79,1.316666667,BASELINE,768.179600734,745,721,685,665,641.179600734,886,787.179600734,818.179600734,653,632,656,0.400970760673,0.00449030429048,0.0798344255724,0.999999951297,0.000123693196551,-0.000282136196825,5.0046827228e-05,1793250375624218112
+80,1.333333333,BASELINE,768.407125175,745,721,685.407125175,665,641,886,787,818.407125175,653,632,656,0.400971026141,0.00448913888424,0.0798344914829,0.999999951453,0.000121569964461,-0.000282509045479,5.00254421593e-05,1793250375640884992
+81,1.350000000,BASELINE,768.999371212,745,721,685.999371212,665,641,886,787,818.999371212,653,632,656,0.400971380612,0.00448753932658,0.0798347468651,0.999999951644,0.000118435778465,-0.000283180009879,4.99328739423e-05,1793250375657551616
+82,1.366666667,BASELINE,769,745,721,686,665,641,886,787,818.421792825,653,632,656,0.400971077064,0.00449051690698,0.0798343300777,0.999999950995,0.000123608781963,-0.000283270031966,4.98831105989e-05,1793250375674218240
+83,1.383333333,BASELINE,768.844154947,745,721,686,665,641,886,787.155845053,818,653,632,656,0.400970747686,0.0044927815715,0.0798340453572,0.999999950565,0.00012687775216,-0.000283361717153,4.97847146055e-05,1793250375690884864
+84,1.400000000,BASELINE,768.269696816,745,721,686,665,641,886,787.730303184,818,653,632,656,0.400970350809,0.00449311821686,0.0798341172985,0.999999950784,0.000125008612251,-0.000283459528109,4.95555649659e-05,1793250375707551488
+85,1.416666667,BASELINE,768.305198407,745,721,686,665.305198407,641.305198407,886,787.694801593,818.305198407,653,632,656,0.400969356238,0.0044923742093,0.0798337466641,0.999999950572,0.000124731954133,-0.000284310178987,4.96500473692e-05,1793250375724218112
+86,1.433333333,BASELINE,768.880480398,745,721,686,665.880480398,641.880480398,886,787.119519602,818.880480398,653,632,656,0.400967832741,0.00449067388407,0.079832984375,0.999999949979,0.000125864553778,-0.00028582705124,5.0030926111e-05,1793250375740884736
+87,1.450000000,BASELINE,769,745,721,686,665.528979975,641.528979975,886.471020025,787,818.528979975,653,632,656,0.400969640149,0.00449011876966,0.0798338807499,0.999999950711,0.000123680444349,-0.000284239593183,4.98892224474e-05,1793250375757551360
+88,1.466666667,BASELINE,769,745.063398495,721,686,665,641.063398495,886.936601505,787,818.063398495,653,632,656,0.400971919379,0.00449015485248,0.0798350479854,0.9999999516,0.000121405081478,-0.000282130403276,4.96291503915e-05,1793250375774217728
+89,1.483333333,BASELINE,769,745.638330125,721,686,665,641.638330125,886.361669875,787,818.638330125,653,632,656,0.400970957669,0.00449253787899,0.0798348911001,0.999999951041,0.000125411266743,-0.000282380057847,4.9519751479e-05,1793250375790884352
+90,1.500000000,BASELINE,768.782777911,745.782777911,721,686,665,641.782777911,886,787,818.782777911,653,632,656,0.400970641859,0.00449385807728,0.0798349126046,0.999999950774,0.000127605508877,-0.000282355948904,4.94430809975e-05,1793250375807551488
+91,1.516666667,BASELINE,768.197169692,745.197169692,721,686,665,641.197169692,886,787,818.197169692,653,632,656,0.400971421431,0.00449337582891,0.07983523664,0.999999951024,0.000126726882999,-0.00028186756542,4.94219145524e-05,1793250375824219136
+92,1.533333333,BASELINE,768,745,721.384265201,686,665,641.384265201,886,787,818.384265201,653,632,656,0.400970742125,0.0044924598476,0.0798343377091,0.999999950853,0.000125356825314,-0.000283086686995,4.94142729733e-05,1793250375840886016
+93,1.550000000,BASELINE,768,745,721.963581785,686,665,641.963581785,886,787,818.963581785,653,632,656,0.400969322299,0.00449132370525,0.0798328180058,0.999999950462,0.00012373731885,-0.000285172530833,4.94134965566e-05,1793250375857552128
+94,1.566666667,BASELINE,768.541292452,745,721.458707548,686,664.458707548,641.458707548,886,787,818.458707548,653,632,656,0.400970713603,0.0044927551865,0.0798345320732,0.999999950969,0.000125322826664,-0.000282719050511,4.92591590215e-05,1793250375874218240
+95,1.583333333,BASELINE,769,745,721,685.881331678,664.118668322,641,886.118668322,787,818.118668322,653,632,656,0.400971705499,0.00449408400954,0.0798358790551,0.999999951291,0.000127009433491,-0.000280830108722,4.92106740483e-05,1793250375890884608
+96,1.600000000,BASELINE,769,745,721,685.304831694,664.695168306,641,886.695168306,787,818.695168306,653,632,656,0.400970428917,0.00449435225813,0.0798349728801,0.9999999507,0.00012825661794,-0.000282293995589,4.96103187313e-05,1793250375907551232
+97,1.616666667,BASELINE,768.723976898,745,721,685,665,641.276023102,886.723976898,787,818.723976898,653,632,656,0.400970404512,0.00449347793299,0.0798349377123,0.999999950789,0.000127412369845,-0.000282346073025,4.9690622284e-05,1793250375924217856
+98,1.633333333,BASELINE,768.13823572,745,721,685,665,641.86176428,886.13823572,787,818.13823572,653,632,656,0.40097178514,0.00449132155669,0.0798358798781,0.999999951635,0.000124221381647,-0.000280813997101,4.94126017461e-05,1793250375940884736
+99,1.650000000,BASELINE,768,745,721,685.442014897,665,641.557985103,886.442014897,787.442014897,818.442014897,653,632,656,0.400971113983,0.00449159314565,0.0798349596205,0.999999951299,0.000124068010837,-0.000282085336166,4.93721359785e-05,1793250375957551360
+100,1.666666667,BASELINE,768.020544024,745,721,686,665,641,886.979455976,787.979455976,818.979455976,653,632,656,0.400969909179,0.00449256237173,0.0798335647119,0.999999950645,0.0001247836076,-0.000284075104772,4.9407558615e-05,1793250375974218496
+101,1.683333333,BASELINE,768.598383293,745,721,686,665,641,886.401616707,787.401616707,818.401616707,653,632,656,0.400971421282,0.00449211100958,0.0798349003145,0.999999951354,0.000123617653076,-0.000282062211468,4.95109898131e-05,1793250375990884864
+102,1.700000000,BASELINE,769,745,721,686,665,641,886,787,818,653,632,656,0.400971930806,0.00449159789206,0.0798353851841,0.999999951665,0.000122661496067,-0.000281366606889,4.95780590828e-05,1793250376007551488
+103,1.716666667,BASELINE,769,745,721,686,665,641,886,787,818,653,632,656,0.400970155422,0.00449094403221,0.079833931207,0.999999951072,0.00012218347419,-0.000283673144014,4.95622583879e-05,1793250376024218112
+104,1.733333333,BASELINE,768.66507883,745,721,686,665,641,886,787,818,653,632,656.33492117,0.400969184635,0.00449040830002,0.079833411263,0.999999950779,0.000122276348149,-0.000284646577793,4.96644110492e-05,1793250376040884736
+105,1.750000000,BASELINE,768.074343728,745,721,686,665,641,886,787,818,653,632,656.925656272,0.400968828402,0.00448996279406,0.0798336047364,0.999999950718,0.000122805274244,-0.000284601782935,4.98566568845e-05,1793250376057551360
+106,1.766666667,BASELINE,768,745,721,686,665,641.505772802,886,787.505772802,818.505772802,653,631.494227198,656.494227198,0.400968573096,0.00449030588889,0.079833527981,0.99999995061,0.000123263244614,-0.000284777223508,4.98721458159e-05,1793250376074217984
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,721,685,666,642,886,787,819,653,631,656,0.40097007573,0.00449423942309,0.0798346825488,0.99999995041,0.000128342022963,-0.000283244963442,4.98025889647e-05,1793250376117465344
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,721,685,665.412756107,641.412756107,886,787,818.412756107,653,631.587243893,656,0.400969537619,0.00449289823606,0.0798348567113,0.999999950556,0.00012699688074,-0.000283294799101,5.00346439212e-05,1793250376134131968
+109,1.816666667,POSE1_TO_POSE2_PRESS,768.171985507,745,721,685.171985507,665,641,886,787,818,653,632,656,0.400968761304,0.00449182576813,0.0798346505713,0.999999950607,0.000125403932688,-0.000283814172772,5.01002048344e-05,1793250376150798336
+110,1.833333333,POSE1_TO_POSE2_PRESS,768.750808022,745,721,685.750808022,665,641,886,787,818,653,632,656,0.400967421507,0.00449138896322,0.0798335448139,0.99999995043,0.000123224792047,-0.000285444253061,4.97719190139e-05,1793250376167464448
+111,1.850000000,POSE1_TO_POSE2_PRESS,769,745,721,685.67002006,665,641,886,787,818,653,632,656,0.400968210169,0.00449133377402,0.0798340382243,0.999999950722,0.000123344806544,-0.000284384386856,4.96757701836e-05,1793250376184130816
+112,1.866666667,POSE1_TO_POSE2_PRESS,769,745,721,685.090584037,665,641,886,787,818,653,632,656,0.40097060789,0.00449156707621,0.0798357405631,0.999999951362,0.000125202921482,-0.000281290992339,4.97551107812e-05,1793250376200797440
+113,1.883333333,POSE1_TO_POSE2_PRESS,768.515462468,745,721,685,665,641.484537532,886,787,818,653,632.484537532,656,0.400970990365,0.00449252759588,0.0798357799125,0.999999951254,0.000126130361682,-0.000281283437206,4.96240739026e-05,1793250376217464064
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,721.060462988,685,665,641.939537012,886,787,818,653,632.939537012,656,0.400970939897,0.00449354872902,0.0798355369993,0.999999951003,0.000126854997681,-0.000281873595968,4.94851917929e-05,1793250376234130944
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,721.650429811,685,665,641.349570189,886,787,818,653,632.349570189,656,0.400970368203,0.00449392058583,0.0798355208053,0.999999950708,0.000127313838528,-0.000282690655539,4.96189969233e-05,1793250376250798080
+116,1.933333333,POSE1_TO_POSE2_PRESS,768.235902665,745,721.764097335,685.235902665,665,641,886,787.235902665,818.235902665,653,632,656,0.400975288212,0.00449354560762,0.0798375605444,0.999999951732,0.000126559858756,-0.000279383672522,4.96302413068e-05,1793250376267464704
+117,1.950000000,POSE1_TO_POSE2_PRESS,768.814840608,745,721.185159392,685.814840608,665,641,886,787.814840608,818.814840608,653,632,656,0.400988193919,0.00449208462741,0.0798425898961,0.999999954612,0.000124042269099,-0.000270079757994,4.9463265306e-05,1793250376284131584
+118,1.966666667,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641.391321897,886,787.608678103,818.608678103,653,632,656,0.401020006464,0.0044911215229,0.0798538393309,0.999999960526,0.000121971244375,-0.00024834643848,4.89433261788e-05,1793250376300797952
+119,1.983333333,POSE1_TO_POSE2_PRESS,769,745,721,686,665,641.966648088,886,787.033351912,818.033351912,653,632,656,0.401060709234,0.00449039252544,0.0798680135245,0.999999967253,0.000120110199591,-0.00022076866129,4.82574194716e-05,1793250376317464320
+120,2.000000000,POSE1_TO_POSE2_PRESS,768.461792513,745.538207487,721,685.461792513,665,641.461792513,886,787,818,653,632,656,0.401125880265,0.00449022872474,0.0798864734436,0.999999974936,0.00011969735572,-0.000183201323206,4.73060853651e-05,1793250376334130944
+121,2.016666667,POSE1_TO_POSE2_PRESS,768.113836011,745.886163989,721,685.113836011,665,641,886,787,818.113836011,653,632,656,0.401193626596,0.00449095482307,0.0799032552916,0.999999980367,0.000119811623957,-0.000150936827656,4.61358891595e-05,1793250376350797824
+122,2.033333333,POSE1_TO_POSE2_PRESS,768.707597138,745.292402862,721,685.707597138,665,641,886,787,818.707597138,653,632,656,0.401265882205,0.00449528604268,0.0799118506229,0.999999981299,0.000121772442279,-0.000143620440697,4.41118470418e-05,1793250376367464192
+123,2.050000000,POSE1_TO_POSE2_PRESS,769,745,721,685.706263146,665,641,886.293736854,787,819,653,632,656,0.401351529088,0.00449659494707,0.0799193290436,0.999999982991,0.000120697701615,-0.00013303660658,4.18385746052e-05,1793250376384130816
+124,2.066666667,POSE1_TO_POSE2_PRESS,769,745,721,685.127518391,665,641,886.872481609,787,819,653,632,656,0.401450169293,0.00449497134987,0.0799257237445,0.999999985306,0.000116677609279,-0.000119282424173,3.93234783222e-05,1793250376400797440
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.549991039,745,721,685.450008961,664.549991039,641,886.549991039,787,819,653,632,656,0.40156302086,0.00449608900332,0.0799291808494,0.999999986305,0.000114993230191,-0.00011354637711,3.56829800647e-05,1793250376417464320
+126,2.100000000,POSE1_TO_POSE2_PRESS,768.027690584,745,721,685.972309416,664.027690584,641,886,787,819,653,632,656,0.401681183555,0.00449798158373,0.079932035489,0.999999987007,0.000113889545094,-0.000109586055953,3.17082901638e-05,1793250376434130688
+127,2.116666667,POSE1_TO_POSE2_PRESS,768.615451311,745,721,685.384548689,664.615451311,641,886,787,819,653,632,656,0.401825537718,0.00449987898774,0.0799394958182,0.999999988864,0.000111180156994,-9.57103050794e-05,2.74069792142e-05,1793250376450797312
+128,2.133333333,POSE1_TO_POSE2_PRESS,769,745,721,685.200171856,665,641.200171856,886,787,819,653,632,656,0.401980916234,0.00450179455001,0.0799466900678,0.999999990469,0.000107777255306,-8.32370242093e-05,2.27703187634e-05,1793250376467463936
+129,2.150000000,POSE1_TO_POSE2_PRESS,769,745,721,685.779139243,665,641.779139243,886,787,819,653,632,656,0.402157156688,0.00450374447391,0.0799533808003,0.999999991841,0.00010306198241,-7.34177112829e-05,1.74990596455e-05,1793250376484130560
+130,2.166666667,POSE1_TO_POSE2_PRESS,768.643853044,745,721,686,665,641.643853044,886,787,818.643853044,653,632,656,0.402354158777,0.00450809515626,0.0799574348467,0.999999992823,9.95174257676e-05,-6.58088815913e-05,1.08867489397e-05,1793250376500797184
+131,2.183333333,POSE1_TO_POSE2_PRESS,768.068053896,745,721,686,665,641.068053896,886,787,818.068053896,653,632,656,0.402563965538,0.00451392649685,0.0799598627282,0.999999993545,9.66949031749e-05,-5.95633575291e-05,3.44734958643e-06,1793250376517463808
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,745.504778953,721,686,665,641.504778953,886,787,818.504778953,653,632,656,0.402784665574,0.00451564261171,0.0799550908198,0.999999993877,8.60641707657e-05,-6.94309348055e-05,-4.34419674277e-06,1793250376534130432
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745.920169779,721,686.079830221,665,642,886,787,818.920169779,653,632,656,0.403011724772,0.00451713144333,0.0799495434595,0.999999993839,7.50452815133e-05,-8.08858526463e-05,-1.21818182913e-05,1793250376550797312
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745.328340293,721,686.671659707,665,642,886,787,818.328340293,653,632,656,0.403270205065,0.00452070012292,0.0799452117771,0.99999999354,6.82490374685e-05,-8.86701189924e-05,-2.00122370469e-05,1793250376567463936
+135,2.250000000,POSE1_TO_POSE2_PRESS,768.25784719,745,721,687,665,642,886.25784719,787.25784719,818,653,632,656,0.403559611587,0.00452581358932,0.0799451646738,0.999999993551,6.4984314235e-05,-8.88892536786e-05,-2.78289349986e-05,1793250376584130304
+136,2.266666667,POSE1_TO_POSE2_PRESS,768.837004,745,721,687,665,642,886.837004,787.837004,818,653,632,656,0.403887556013,0.00453285205172,0.0799504566881,0.999999994005,6.61203049199e-05,-7.96812943482e-05,-3.56285346558e-05,1793250376600796928
+137,2.283333333,POSE1_TO_POSE2_PRESS,768.586957142,745,721,687.413042858,665,642,887,787.586957142,818,653,632,656,0.404245968954,0.00453914196273,0.0799542887016,0.999999990219,0.000116711294486,-7.20480412613e-05,-2.73788066144e-05,1793250376617463808
+138,2.300000000,POSE1_TO_POSE2_PRESS,768.012139493,745,721,687.987860507,665,642,887,787.012139493,818,653,632,656,0.404616315364,0.00454513869155,0.0799575488826,0.99999998038,0.000186672118677,-6.50315467646e-05,-1.28431043734e-05,1793250376634130688
+139,2.316666667,POSE1_TO_POSE2_PRESS,768.56188982,745,721,687.43811018,665,642,887,787,818,653,632,656,0.405024048348,0.00455496772475,0.0799574995953,0.999999994085,8.87313912964e-05,-5.90873817715e-05,-2.15654791879e-05,1793250376650797056
+140,2.333333333,POSE1_TO_POSE2_PRESS,769,745.140041245,721,687.140041245,665,642,886.859958755,787.140041245,818,653,632,656,0.405436263451,0.00456267961109,0.0799558517796,0.999999997791,1.57364903586e-05,-5.7646612659e-05,-2.91014883942e-05,1793250376667463680
+141,2.350000000,POSE1_TO_POSE2_PRESS,769,745.731535909,721,687.731535909,665,642,886.268464091,787.731535909,818,653,632,656,0.405860327326,0.00456329987495,0.0799492809335,0.999999996411,3.48374731399e-05,-7.0648942218e-05,-3.11953881884e-05,1793250376684130304
+142,2.366666667,POSE1_TO_POSE2_PRESS,769,746,721,688,665,642,886.316683406,788,818.316683406,653,632,656.316683406,0.406316835561,0.00456932747148,0.0799416667499,0.999999993379,7.01427181155e-05,-8.57605809922e-05,-3.11066092704e-05,1793250376700797184
+143,2.383333333,POSE1_TO_POSE2_PRESS,769,746,721,688,665,642,886.896555968,788,818.896555968,653,632,656.896555968,0.406800307693,0.00457984899257,0.0799331854691,0.999999987237,0.000118914998661,-0.000102625225147,-2.92038505288e-05,1793250376717464064
+144,2.400000000,POSE1_TO_POSE2_PRESS,768.528134547,745.528134547,721,688,665,642,887,788,818.528134547,653,632,656.528134547,0.407319692583,0.00458355118626,0.0799293960372,0.999999984192,0.000136118923531,-0.000110401294824,-2.99710240011e-05,1793250376734130432
+145,2.416666667,POSE1_TO_POSE2_PRESS,768.047428304,745,721,688.047428304,665,642,887,787.952571696,818,653.047428304,632,656.047428304,0.407847985758,0.00458519810558,0.0799259675645,0.999999982322,0.000143583584621,-0.000117362626668,-3.1083785458e-05,1793250376750797056
+146,2.433333333,POSE1_TO_POSE2_PRESS,768.637218603,745,721,688.637218603,665,642,887,787.362781397,818,653.637218603,632,656.637218603,0.408388981384,0.00458027383842,0.0799150174107,0.999999983132,0.000118056890691,-0.000137573130251,-2.95193110269e-05,1793250376767463936
+147,2.450000000,POSE1_TO_POSE2_PRESS,768.777097546,745.222902454,721,689,665,642,887,787,818,653.777097546,631.777097546,656.777097546,0.408966813887,0.0045783489746,0.079915295234,0.99999998402,0.000108541808121,-0.000139028084315,-2.91672482543e-05,1793250376784130304
+148,2.466666667,POSE1_TO_POSE2_PRESS,768.197976214,745.802023786,721,689,665,642,887,787,818,653.197976214,631.197976214,656.197976214,0.409603515116,0.00458121743692,0.0799335164108,0.999999985656,0.000124614773023,-0.000110509922715,-3.07527323169e-05,1793250376800796928
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,746,721,689.379882938,665,641.620117062,887,787,818,653,631,656,0.410289872073,0.00458918921857,0.0799647988761,0.999999990238,0.00012377485985,-5.62805085196e-05,-3.22019293314e-05,1793250376817463808
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,746,721,689.957086466,665,641.042913534,887,787,818,653,631,656,0.411002021422,0.00459981179034,0.080002865697,0.999999992857,0.00011414997878,1.13039651743e-05,-3.35803353224e-05,1793250376834130432
+151,2.516666667,POSE1_TO_POSE2_PRESS,768.527971944,746,721,690,665.527971944,641,887.527971944,787,818,653,631.527971944,656,0.411680258757,0.0045906706417,0.0799914362571,0.999999992125,0.000119804014075,-1.50695013669e-05,-3.42011316752e-05,1793250376850797824
+152,2.533333333,POSE1_TO_POSE2_PRESS,769,746,721,690.102191636,666,641.102191636,888.204383271,787.102191636,818.102191636,653,632,656,0.412357359857,0.00457928979124,0.0799721028046,0.999999990842,0.000119884520096,-5.20524045311e-05,-3.51301303319e-05,1793250376867464960
+153,2.550000000,POSE1_TO_POSE2_PRESS,769,746,721,690.694849143,666,641.694849143,889.389698285,787.694849143,818.694849143,653,632,656,0.413042080094,0.0045647782324,0.0799339144781,0.999999990091,8.7325191154e-05,-0.000103735345031,-3.78303864473e-05,1793250376884131072
+154,2.566666667,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889.717971771,788,819,653,632,656,0.413770601329,0.0045636623855,0.0799150591823,0.99999998806,8.19600607088e-05,-0.000124651806596,-4.031703788e-05,1793250376900797952
+155,2.583333333,POSE1_TO_POSE2_PRESS,769,746,721,691,666,642,889.136607243,788,819,653,632,656,0.414545611716,0.00457676434348,0.0799167233806,0.999999987158,0.000105458032713,-0.000112913657295,-4.25769761409e-05,1793250376917464832
+156,2.600000000,POSE1_TO_POSE2_PRESS,768.560969418,746,721.439030582,691.439030582,666,642,889,788,819,653,632,656,0.415349699765,0.00458872552411,0.079935668161,0.999999988687,0.000119022725623,-8.14428417439e-05,-4.27438022534e-05,1793250376934131200
+157,2.616666667,POSE1_TO_POSE2_PRESS,768.012915396,746,722,692,665.987084604,642,889,787.987084604,818.987084604,653,632,656,0.416162710415,0.00460018429004,0.0799590175465,0.999999989704,0.000129360774663,-4.54677017409e-05,-4.23196348615e-05,1793250376950797568
+158,2.633333333,POSE1_TO_POSE2_PRESS,768.587060083,746,722,692,665.412939917,642,889,787.412939917,818.412939917,653,632,656,0.416975349276,0.00460503695778,0.0799431222385,0.99999998733,0.000132066711389,-7.7131923932e-05,-4.41510106926e-05,1793250376967464448
+159,2.650000000,POSE1_TO_POSE2_PRESS,768.833244828,746,721.833244828,692.166755172,665,642,889,787,818.166755172,653,632,656,0.417813985982,0.00460751224065,0.079941277564,0.999999986552,0.000135925223595,-7.96806051625e-05,-4.5512958057e-05,1793250376984131072
+160,2.666666667,POSE1_TO_POSE2_PRESS,768.239331946,746,721.239331946,692.760668054,665,642,889,787,818.760668054,653,632,656,0.418719218359,0.00460389764749,0.0799754247961,0.999999988741,0.000142736156681,-7.64732261093e-06,-4.56724238759e-05,1793250377000797696
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,721,693,665.34290572,642,889.34290572,787.34290572,819,653.34290572,632,656,0.419601150427,0.00459672322422,0.0799885979667,0.999999990212,0.000130062597802,2.11184038848e-05,-4.70459360706e-05,1793250377017464064
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,721,693,665.917262927,642,889.917262927,787.917262927,819,653.917262927,632,656,0.420467355422,0.00458714601827,0.0799876142483,0.999999993141,0.00010423756787,2.06797729377e-05,-4.9238894695e-05,1793250377034130688
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,721,693,666,642,889.014403882,787.507201941,819,653.507201941,631.507201941,656,0.421353863014,0.00458809318729,0.0799756097785,0.999999993294,0.000104181150779,5.05929437269e-07,-5.05710057672e-05,1793250377050797568
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,721.070286723,693,666,642,888.070286723,787.070286723,819,653,631.070286723,656,0.422250117134,0.00459188813547,0.0799665056311,0.999999992472,0.000110238298909,-1.61407770551e-05,-5.14148709573e-05,1793250377067464448
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,721.660766031,693,666,642,888.660766031,787.660766031,819,653,631.660766031,656,0.423193217008,0.00460365087716,0.0799925937029,0.999999990226,0.000129445879398,1.78981019163e-05,-4.97174531921e-05,1793250377084131328
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,721.753755195,693,666,642.246244805,889,787.753755195,819.246244805,653.246244805,632,656,0.424108220758,0.00461206714079,0.0799969421475,0.999999988655,0.000142290323158,1.15332976555e-05,-4.8076217652e-05,1793250377100797952
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,721.17502811,693,666,642.82497189,889,787.17502811,819.82497189,653.82497189,632,656,0.424985288963,0.00461596495682,0.0799719375265,0.999999986961,0.000146543196497,-4.93849724983e-05,-4.65108396451e-05,1793250377117464576
+168,2.800000000,POSE1_TO_POSE2_PRESS,768.40149995,746,721,693.40149995,666,642.59850005,889,787,819.59850005,653.59850005,632,656,0.425889666448,0.00461712862558,0.0799373103984,0.999999983633,0.000145885806472,-9.51727801152e-05,-4.89333247175e-05,1793250377134131200
+169,2.816666667,POSE1_TO_POSE2_PRESS,768.977074563,746,721,693.977074563,666,642.022925437,889,787,819.022925437,653.022925437,632,656,0.426805884114,0.00461710687486,0.0798985113294,0.999999979321,0.000143099518149,-0.000134400607689,-5.30847912118e-05,1793250377150798080
+170,2.833333333,POSE1_TO_POSE2_PRESS,769,746,721,694,666.548789019,642.548789019,889,787,819,653,632,656.548789019,0.427743378808,0.0046108851735,0.0798974772352,0.9999999812,0.000129749162042,-0.000134081548187,-5.28033074945e-05,1793250377167464192
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.874984298,746,721,694.125015702,666.874984298,643,889,787,819,653.125015702,632,656.874984298,0.428689018909,0.00460564407792,0.0799040124374,0.999999983445,0.000120339026012,-0.000126114512731,-5.21817125983e-05,1793250377184130816
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.281239284,746,721,694.718760716,666.281239284,643,889,787,819,653.718760716,632,656.281239284,0.429661889751,0.00460504393406,0.0799330539416,0.99999998602,0.000127345281052,-9.56233250721e-05,-5.09743922343e-05,1793250377200797440
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746.304270878,721,694.695729122,666,643,889.304270878,787,819.304270878,653.695729122,632,656,0.430649392448,0.00460786203748,0.0799726770479,0.999999989147,0.000132711674644,-3.94307241132e-05,-5.03816799883e-05,1793250377217464064
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+231,3.850000000,POSE1_TO_POSE2_PRESS,769,746,720,695,652,638,891,786,824,654,631.047645007,657,0.456067668971,0.00476359635645,0.0794604180061,0.999999616556,0.000258951468858,-0.000833339418385,-7.33268699384e-05,1793250378184130816
+232,3.866666667,POSE1_TO_POSE2_PRESS,769,746,720.528098485,695.528098485,652,637.471901515,891,785.471901515,824,653.471901515,631,656.471901515,0.456070230124,0.004762635507,0.0794590756615,0.99999961559,0.000256942658166,-0.000835140377195,-7.30806130151e-05,1793250378200797696
+233,3.883333333,POSE1_TO_POSE2_PRESS,769,746,720.893852056,695.893852056,652,637,891,785.106147944,824,653,631.106147944,656,0.456072683942,0.00476181618227,0.0794581495996,0.999999615128,0.000254801442476,-0.000836364870636,-7.28961390033e-05,1793250378217464320
+234,3.900000000,POSE1_TO_POSE2_PRESS,769,746,720.305095028,695.305095028,652,637,891,785.694904972,824,653,631.694904972,656,0.456075849946,0.00476214796063,0.0794593571389,0.999999617042,0.000253263948073,-0.000834537376301,-7.29461854285e-05,1793250378234130688
+235,3.916666667,POSE1_TO_POSE2_PRESS,769.279962519,746,720.279962519,695,652,637,891,785.720037481,823.720037481,653.279962519,631.720037481,656.279962519,0.456076425332,0.0047626451065,0.0794591217973,0.999999616609,0.000252700419659,-0.000835230215801,-7.2902750541e-05,1793250378250797312
+236,3.933333333,POSE1_TO_POSE2_PRESS,769.861041131,746,720.861041131,695,652,637,891,785.138958869,823.138958869,653.861041131,631.138958869,656.861041131,0.456074214356,0.00476332011487,0.0794573345528,0.999999613648,0.000253184448543,-0.000838633821783,-7.27587710305e-05,1793250378267464192
+237,3.950000000,POSE1_TO_POSE2_PRESS,769.563531104,746,720.563531104,695,652,637,891,785,823.436468896,653.563531104,631,656.563531104,0.456075083938,0.00476266331803,0.0794576985093,0.999999613988,0.000252820154807,-0.000838373944889,-7.23464778299e-05,1793250378284131072
+238,3.966666667,POSE1_TO_POSE2_PRESS,769,746,720,695,651.989895158,637,891,785,823.989895158,653,631,656.010104842,0.456076891555,0.00476161514897,0.0794586994172,0.999999615325,0.000252195363679,-0.000837008427972,-7.18667678733e-05,1793250378300798208
+239,3.983333333,POSE1_TO_POSE2_PRESS,769,746,720,695,651.417134254,637,891,785,823.417134254,653,631,656.582865746,0.456077018156,0.00476208241656,0.0794575190348,0.999999614371,0.000251911990406,-0.000838193016842,-7.23288932153e-05,1793250378317465088
+240,4.000000000,POSE1_TO_POSE2_PRESS,769.162003412,746,720,695,651.162003412,637,891,785.162003412,823.162003412,653.162003412,631.162003412,657,0.456077057983,0.00476259340155,0.0794565970632,0.999999613404,0.000251939897528,-0.000839316376635,-7.25739489649e-05,1793250378334131456
+241,4.016666667,POSE1_TO_POSE2_PRESS,769.758233013,746,720,695,651.758233013,637,891,785.758233013,823.758233013,653.758233013,631.758233013,657,0.456076865229,0.00476322156457,0.0794563677238,0.999999612405,0.00025280214574,-0.000840275620877,-7.22371817429e-05,1793250378350797824
+242,4.033333333,POSE1_TO_POSE2_PRESS,769.65727945,746,720,695.34272055,652,637,891,785.65727945,824,654,632,657,0.45607754918,0.00476341842458,0.0794570856572,0.999999613014,0.000252896513746,-0.000839540390363,-7.20281942444e-05,1793250378367464448
+243,4.050000000,POSE1_TO_POSE2_PRESS,769.080800802,746,720,695.919199198,652,637,891,785.080800802,824,654,632,657,0.456078831102,0.00476332110738,0.0794584496935,0.999999614717,0.000252467136595,-0.000837649415876,-7.19063609882e-05,1793250378384131072
+244,4.066666667,POSE1_TO_POSE2_PRESS,769,746,720.502916438,695.497083562,652,637,891,785,824,653.497083562,632,657,0.456079045907,0.00476380769067,0.0794577644224,0.999999613819,0.000254592317315,-0.000838100171051,-7.16403622577e-05,1793250378400797696
+245,4.083333333,POSE1_TO_POSE2_PRESS,769,746,721,695,652,637.086928159,891,785,823.913071841,653.086928159,631.913071841,657,0.456079126096,0.00476392264052,0.0794569222294,0.999999612864,0.00025608444396,-0.000838802617705,-7.1430806308e-05,1793250378417464320
+246,4.100000000,POSE1_TO_POSE2_PRESS,769,746,721,695,652,637.665927204,891,785,823.334072796,653.665927204,631.334072796,657,0.45607942895,0.00476139510565,0.0794570827503,0.999999614004,0.000251635850286,-0.000838768976764,-7.16737824295e-05,1793250378434130944
+247,4.116666667,POSE1_TO_POSE2_PRESS,769,746,721,695,651.755382518,637.755382518,891,785.244617482,823,654,631.244617482,657,0.456079154853,0.00476036810919,0.0794569891964,0.999999614314,0.000249602339669,-0.000839012262027,-7.16180316955e-05,1793250378450797312
+248,4.133333333,POSE1_TO_POSE2_PRESS,769,746,721,695,651.177113308,637.177113308,891,785.822886692,823,654,631.822886692,657,0.456078093809,0.00476138780679,0.0794565490914,0.99999961351,0.000250862937374,-0.000839633267264,-7.11548255249e-05,1793250378467463936
+249,4.150000000,HOLD_POSE2,769,746,720,696,652,638,891,786,824,654,632,656,0.456080535097,0.00475990775193,0.0794578315901,0.999999617009,0.000244088277935,-0.000837432032489,-7.14811686521e-05,1793250378501886464
+250,4.166666667,HOLD_POSE2,769,746,720.582467283,695.417532717,652,637.417532717,891,785.417532717,824,653.417532717,631.417532717,656.582467283,0.456080347202,0.00476149046728,0.0794576856409,0.999999615846,0.000248752964976,-0.00083745667952,-7.1391146879e-05,1793250378518552832
+251,4.183333333,HOLD_POSE2,769,746,720.832690614,695,651.832690614,637,891,785,824,653,631,657,0.456080873503,0.00476262140284,0.0794579690778,0.999999615497,0.000251890433041,-0.000836946929015,-7.12566344109e-05,1793250378535218944
+252,4.200000000,HOLD_POSE2,769,746,720.241836518,695,651.241836518,637,891,785,824,653,631,657,0.456083207795,0.00476260865554,0.079459339508,0.999999617255,0.000251161738138,-0.000835084347998,-7.10094934664e-05,1793250378551885824
+253,4.216666667,HOLD_POSE2,769,746,720.341630482,695,651,637.341630482,891,785,823.658369518,653,631,657,0.456083405774,0.00476364137891,0.0794592380025,0.999999616528,0.000252035586139,-0.000835671178831,-7.12421953539e-05,1793250378568552704
+254,4.233333333,HOLD_POSE2,769,746,720.91997888,695,651,637.91997888,891,785,823.08002112,653,631,657,0.456082123489,0.00476539851552,0.0794581165834,0.999999614074,0.000254019846272,-0.000837955222697,-7.18073833814e-05,1793250378585219584
+255,4.250000000,HOLD_POSE2,769,746,720.50442158,695,651,638,891,785.49557842,823.49557842,653.49557842,631.49557842,657,0.456082127267,0.00476415451835,0.0794579304548,0.999999614681,0.000252284353731,-0.000837771268691,-7.16228558598e-05,1793250378601885952
+256,4.266666667,HOLD_POSE2,769,746.072210925,720,695,651.072210925,637.927789075,890.927789075,786,824,654,632,656.927789075,0.456082692773,0.00476267818428,0.0794580730406,0.99999961592,0.000250261814328,-0.000836923538009,-7.13232452041e-05,1793250378618552576
+257,4.283333333,HOLD_POSE2,769,746.659357177,720,695,651.659357177,637.340642823,890.340642823,786,824,654,632,656.340642823,0.456085791299,0.00476298162763,0.0794594886932,0.999999618193,0.000250451799663,-0.000834168503494,-7.10614699848e-05,1793250378635219456
+258,4.300000000,HOLD_POSE2,769.243104814,746.756895186,720,695,652,637,890.243104814,785.756895186,824,653.756895186,632,656.243104814,0.456087259458,0.00476297021306,0.0794602440923,0.999999618967,0.000250858998496,-0.000833137757931,-7.08305105133e-05,1793250378651886080
+259,4.316666667,HOLD_POSE2,769.822155859,746.177844141,720,695,652,637,890.822155859,785.177844141,824,653.177844141,632,656.822155859,0.456086474616,0.00476252369671,0.0794600870879,0.999999617675,0.000251566364373,-0.000834489805299,-7.06421353063e-05,1793250378668552448
+260,4.333333333,HOLD_POSE2,769.600269051,746.399730949,720.399730949,695,652,637,891,785.399730949,824,653.399730949,631.600269051,657,0.456086214481,0.0047623543892,0.0794597633028,0.999999617646,0.000250062460797,-0.000834970774317,-7.0710822164e-05,1793250378685218816
+261,4.350000000,HOLD_POSE2,769.023348161,746.976651839,720.976651839,695,652,637,891,785.976651839,824,653.976651839,631.023348161,657,0.456086186934,0.00476230796087,0.0794593655883,0.999999618172,0.000247578361222,-0.000835065617927,-7.08934576796e-05,1793250378701885440
+262,4.366666667,HOLD_POSE2,769,746.450598437,720.450598437,695,651.450598437,637,891,786,824,654,631,657,0.456085959513,0.00476116015417,0.0794590035897,0.999999617554,0.000247329501672,-0.000835868661815,-7.10222410023e-05,1793250378718552064
+263,4.383333333,HOLD_POSE2,769,746,720.125887154,695,651,637,891,785.874112846,824,654,631,656.874112846,0.45608591452,0.00475994986724,0.0794587657998,0.99999961738,0.000246906239788,-0.000836198755922,-7.10561429662e-05,1793250378735218688
+264,4.400000000,HOLD_POSE2,769,746,720.71682377,695,651,637,891,785.28317623,824,654,631,656.28317623,0.456086574587,0.00475868037288,0.0794589812938,0.999999619026,0.00024549043166,-0.000834671345141,-7.07479271253e-05,1793250378751885312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,651,637,891,785,824,654,631,657,0.456085277374,0.00476070494842,0.0794583459068,0.999999617749,0.000245938797363,-0.000836056435017,-7.08885520966e-05,1793250378790203136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,651,637,891,785.605235561,824,654,631,657,0.456084870555,0.00476124540206,0.0794579645732,0.999999616281,0.000248930301551,-0.000836941587253,-7.07130864228e-05,1793250378806870016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,769,746,720.200965952,695,651,637,891,786,824,654,631,656.799034048,0.456085164212,0.00476161389775,0.0794579149097,0.999999615887,0.000250428749078,-0.000836964172049,-7.07217115506e-05,1793250378823537152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,769,746,720.77886833,695,651,637,891,786,824,654,631,656.22113167,0.456086771699,0.0047616598652,0.0794584873341,0.999999617521,0.000249126785243,-0.000835368905412,-7.10756216486e-05,1793250378840203776
+269,4.483333333,POSE2_TO_POSE3_RETREAT,769,746,721,695.366398758,651,637.366398758,891,786,824,653.633601242,631.366398758,656.366398758,0.456087523623,0.00476147878887,0.079459003195,0.999999618046,0.000249202287918,-0.000834734634635,-7.08809868352e-05,1793250378856870144
+270,4.500000000,POSE2_TO_POSE3_RETREAT,769,746,721,695.959896757,651,637.959896757,891,786,824,653.040103243,631.959896757,656.959896757,0.456087745257,0.00476115698755,0.0794594839969,0.999999617884,0.000250131564305,-0.000834696003063,-7.03463559441e-05,1793250378873536512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,769.537418518,746,721,696,651,637.462581482,891,786,824,653,632,656.462581482,0.45608683032,0.00476067535439,0.0794585877382,0.999999617646,0.000247359816708,-0.000835782515534,-7.06326077698e-05,1793250378890203648
+272,4.533333333,POSE2_TO_POSE3_RETREAT,769.886125635,746,720.886125635,695.886125635,651,637,891,786,824,653.113874365,631.886125635,656.113874365,0.456086034472,0.00476036242386,0.0794577768495,0.999999617359,0.00024517034869,-0.000836752184064,-7.08517343806e-05,1793250378906870528
+273,4.550000000,POSE2_TO_POSE3_RETREAT,769.309296409,746,720.309296409,695.309296409,651,637,891,786,824,653.690703591,631.309296409,656.690703591,0.456086057637,0.00476078244094,0.0794577187365,0.999999616931,0.000246438514317,-0.00083691533889,-7.05561185973e-05,1793250378923537152
+274,4.566666667,POSE2_TO_POSE3_RETREAT,769.27220643,746,720.27220643,695,651,637.27220643,891,785.72779357,824,654,631.27220643,657,0.456084651589,0.00476118978915,0.0794571941063,0.999999616124,0.000247258322828,-0.000837640820102,-7.05147853476e-05,1793250378940203520
+275,4.583333333,POSE2_TO_POSE3_RETREAT,769.859112421,746,720.859112421,695,651,637.859112421,891,785.140887579,824,654,631.859112421,657,0.456081593218,0.00476158249077,0.0794561301326,0.999999614879,0.000247559782779,-0.000839016410364,-7.07674297506e-05,1793250378956870144
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,746,720.560143912,695,651,637.560143912,891,785.439856088,824,653.560143912,631.560143912,656.560143912,0.456064272327,0.00476201888984,0.0794479394552,0.999999603944,0.000247935198309,-0.000851847472348,-7.06861041971e-05,1793250378973536768
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,746.01861936,720.01861936,695,651,637,891,785.98138064,824,653.01861936,631,656.01861936,0.456041606847,0.00476242798992,0.0794372513791,0.999999589241,0.000248305168308,-0.000868846039771,-7.04916907421e-05,1793250378990203136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,746.5963648,720.5963648,695,651,637,891,785.4036352,824,653.5963648,631,656.5963648,0.455993735813,0.00476160282291,0.0794191693103,0.999999559741,0.000247810100353,-0.00090232973433,-7.00692355184e-05,1793250379006869760
+279,4.650000000,POSE2_TO_POSE3_RETREAT,769.827456224,746.827456224,720.827456224,695,651,637,891,785.172543776,823.827456224,653.827456224,631.172543776,656.827456224,0.455942117103,0.00476097260578,0.0794026336881,0.999999532483,0.000247828633008,-0.000932089708299,-6.94546198253e-05,1793250379023536640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,769.254908628,746.254908628,720.254908628,695,651,637,891,785.745091372,823.254908628,653.254908628,631.745091372,656.254908628,0.455881810241,0.00476079433583,0.0793896831499,0.99999951234,0.000249037833186,-0.00095321708451,-6.83945234839e-05,1793250379040203008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,651,637,891,785.670419317,823,653,632,656.329580683,0.455815914733,0.00475998246182,0.079382034505,0.99999950156,0.000249524857339,-0.000964428965046,-6.70408329838e-05,1793250379056869632
+282,4.700000000,POSE2_TO_POSE3_RETREAT,769,746,720,695,651,637,891,785.076346688,823,653,632,656.923653312,0.455745534283,0.00475866211394,0.0793786406858,0.999999498544,0.000249432327669,-0.000967683555584,-6.54515301817e-05,1793250379073536256
+283,4.716666667,POSE2_TO_POSE3_RETREAT,769.504456445,746.504456445,720,695,651,637,891,785.504456445,823.504456445,653.504456445,632,657,0.455657131323,0.00475909146874,0.0793824012807,0.999999501839,0.000253374659341,-0.000963402163578,-6.30849701095e-05,1793250379090202880
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,769.367703459,746.367703459,720,695,651,637,891,785.367703459,824,653.367703459,631.367703459,657,0.455455713311,0.00475967731207,0.0793939352672,0.999999516033,0.000259934015973,-0.000947149771521,-5.72223052008e-05,1793250379123535872
+286,4.766666667,POSE2_TO_POSE3_RETREAT,769,746,720.20464226,695.20464226,651,637,891,785.20464226,823.79535774,653.20464226,631.20464226,656.79535774,0.455340358916,0.00475889778071,0.0793999789719,0.999999524973,0.000262317193172,-0.000937198286724,-5.38721081777e-05,1793250379140202752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,769,746,720.815927589,695.815927589,651,637,891,785.815927589,823.184072411,653.815927589,631.815927589,656.184072411,0.455210250983,0.0047565737837,0.0794051577326,0.999999533376,0.000264789216622,-0.000927684820543,-5.03590186695e-05,1793250379156869632
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769,746,721,695.595723434,651.404276566,637,891,785.595723434,823,653.595723434,631.595723434,656,0.455050103516,0.0047560685815,0.0794063169729,0.999999535573,0.000268914996111,-0.000924323119872,-4.65354250701e-05,1793250379173536256
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769,746,721,695.017256951,651.982743049,637,891,785.017256951,823,653.017256951,631.017256951,656,0.454877012958,0.00475634703997,0.0794057443301,0.999999535093,0.000273753326708,-0.000923612018545,-4.25780448285e-05,1793250379190203136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,769,746,720.437836859,695,652,637.562163141,891,785.562163141,823,653,631.562163141,656.562163141,0.45466389832,0.00475369944546,0.0794055864303,0.999999533382,0.000276657744591,-0.000924831588074,-3.71835555025e-05,1793250379206869760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,769,746,720.140243878,695,652,638,891,786,823,653.140243878,632,656.859756122,0.454442379193,0.00475142625132,0.0794056926764,0.999999531872,0.000280288278571,-0.000925579527949,-3.15700213976e-05,1793250379223536384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,769,746,720.714093088,695,652,638,891,786,823,653.714093088,632,656.285906912,0.454198680202,0.00475058880959,0.0794065761768,0.999999531158,0.000286347675162,-0.000924685734433,-2.54158723082e-05,1793250379240202752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,769,746,720.705267703,695,652,637.705267703,890.705267703,786,822.705267703,654,631.705267703,656.294732297,0.453939499862,0.00474996269445,0.0794068073717,0.99999953105,0.000293897294845,-0.000922579779806,-1.92348240613e-05,1793250379256869632
+294,4.900000000,POSE2_TO_POSE3_RETREAT,769,746,720.117886526,695,652,637.117886526,890.117886526,786,822.117886526,654,631.117886526,656.882113474,0.453664947624,0.00474954641211,0.0794063908722,0.999999531504,0.000302926603084,-0.000919270232663,-1.30270671713e-05,1793250379273536256
+295,4.916666667,POSE2_TO_POSE3_RETREAT,769,746,720,695,652.465250109,637.465250109,890.465250109,786,822.465250109,654,631.465250109,657,0.453354179385,0.00474806533441,0.0794119264341,0.99999953647,0.000314147445783,-0.000910135236454,-5.066775526e-06,1793250379290203136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,769,746,720,695,653,638,891,786,822.953317821,654,631.953317821,656.953317821,0.453030620502,0.00474643350637,0.0794191413309,0.999999542817,0.000325406801833,-0.000899147460645,3.14068643942e-06,1793250379306870016
+297,4.950000000,POSE2_TO_POSE3_RETREAT,769,746,720,695,653,638,891,786,822.37910435,654,631.37910435,656.37910435,0.452665282753,0.00474611944659,0.0794284447585,0.999999554707,0.000330882975639,-0.000883751889122,9.16853662823e-06,1793250379323536640
+298,4.966666667,POSE2_TO_POSE3_RETREAT,769,746,720.195538771,695,653.391077542,638,891,786,822,654,631.195538771,656.195538771,0.452291156993,0.00474850053024,0.0794391845436,0.999999567615,0.000336783002272,-0.00086669166874,1.38942603369e-05,1793250379340203264
+299,4.983333333,POSE2_TO_POSE3_RETREAT,769,746,720.771016653,695,654.542033306,638,891,786,822,654,631.771016653,656.771016653,0.451899955842,0.00475611837794,0.0794527152239,0.999999582678,0.000343506590144,-0.000846396975611,1.60899031256e-05,1793250379356869888
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,769,746,720.053059011,695,655,638,891,786,822,653.053059011,631.053059011,656.053059011,0.451066801939,0.00476488133893,0.0794807898661,0.999999624816,0.000307419096713,-0.000809837359234,4.96688046156e-06,1793250379390203136
+302,5.033333333,POSE2_TO_POSE3_RETREAT,769,746.525872217,720.525872217,695,655,638,891,786,821.474127783,653.525872217,631.525872217,656.525872217,0.45061631833,0.00475893894702,0.0795067929743,0.999999668175,0.00029294834655,-0.000760117519822,7.22343468836e-06,1793250379406870272
+303,5.050000000,POSE2_TO_POSE3_RETREAT,769,746.897024017,720.897024017,695,655.102975983,638,890.897024017,786,821,653.897024017,631.897024017,656.897024017,0.450151446813,0.00475262009991,0.0795338605641,0.999999709681,0.000278398762005,-0.000709247599258,1.00025571382e-05,1793250379423536896
+304,5.066666667,POSE2_TO_POSE3_RETREAT,769,746.322807743,720.322807743,695,655.677192257,638,890.322807743,786,821,653.322807743,631.322807743,656.322807743,0.449633191199,0.00474887507037,0.0795604559041,0.999999743578,0.000259099697093,-0.000667529871523,1.07751529458e-05,1793250379440203520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768.742649555,746,720,695,656.51470089,638,890.257350445,786,820.742649555,653.257350445,631,656.257350445,0.44908786558,0.00474359587853,0.0795702859938,0.999999745356,0.000281801455782,-0.000655516110838,1.31899827581e-05,1793250379456870144
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768.154862005,746,720,695,657.690275989,638,890.845137995,786,820.154862005,653.845137995,631,656.845137995,0.448507782197,0.00473634682769,0.0795585895569,0.999999703288,0.000358432130847,-0.000681642144546,1.77134354165e-05,1793250379473536768
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746.068627636,721,694.068627636,661.068627636,640,890,787,820,654,632,656.931372364,0.442443148076,0.00466292738608,0.0796965375512,0.999999842498,0.000281954448745,-0.000484222629831,3.21522900084e-05,1793250379623536640
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746.777891069,721,694.777891069,662.222108931,640.222108931,890,787,820,653.777891069,631.777891069,656,0.440854560119,0.00464051737063,0.0797050995924,0.999999870734,0.00021597043164,-0.000459239302937,3.14303426923e-05,1793250379656870144
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,768.969307148,746,721,694,663,641,889.030692852,787,820,653.969307148,631,656,0.438292834566,0.00460480087848,0.0796692258278,0.99999985492,0.000211290268233,-0.000494276111445,3.47552486058e-05,1793250379706869504
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768.876770191,746,721,694,664,641,889.876770191,788,819.876770191,653.123229809,631,656,0.436699438293,0.00458581161354,0.0798351610724,0.999999953236,0.000156650456167,-0.000259646370749,3.96615801838e-05,1793250379740203008
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768.302311605,746,721,694,664,641,889.302311605,788,819.302311605,653.697688395,631,656,0.435838503457,0.0045776481668,0.0798737870432,0.999999965138,0.00017338234373,-0.000194407267982,4.32299768996e-05,1793250379756869888
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,768.546145621,746,721,694,664,641,889,787.453854379,819,653.546145621,631.453854379,656,0.432974075863,0.00454268732536,0.0797865699884,0.999999933163,0.0001369576843,-0.000335995104681,4.4977320324e-05,1793250379806870016
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768.032840115,746.032840115,721,693.967159885,664,641,889,788,819,653,631.967159885,656,0.431953344634,0.00453410294329,0.0797325004313,0.999999892388,0.000139816451777,-0.00044003416342,4.52167791029e-05,1793250379823536640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768.607413011,746.607413011,721,693.392586989,664,641,889,788,819,653,631.392586989,656,0.430991501504,0.00452332521398,0.0797060921397,0.999999872424,0.000119961336077,-0.000488338890063,4.78078230157e-05,1793250379840203264
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768.817295054,746.817295054,721,693.182704946,664,641,889,788,819,653,631.182704946,656,0.430069095338,0.00451137161908,0.0797141280845,0.999999880688,0.000103772498109,-0.00047477145561,4.94661097173e-05,1793250379856869632
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,721,694,664.343451596,641,889,788,819.343451596,653,632,656,0.428342647062,0.00448384759993,0.0798425680162,0.999999964299,8.20932144923e-05,-0.000249289099592,5.01678545347e-05,1793250379890203136
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.148748122,745.148748122,721,691,664,641.148748122,888,787.148748122,819,653,631,656,0.419194854438,0.00448671862138,0.0798534814028,0.999999971778,9.0709445855e-05,-0.000213671032443,5.0605005728e-05,1793250380056870144
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.72256624,745.72256624,721,691,664,641.72256624,888,787.72256624,819,653,631,656,0.41828891831,0.00448026323112,0.0798075841579,0.999999951919,8.45992755546e-05,-0.000294139416492,4.98638997816e-05,1793250380073537024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,769,746,721,691,664,641.694643089,887.694643089,787.694643089,819,653,631,656,0.417412458843,0.00447682396017,0.079790100415,0.999999940797,8.15648520715e-05,-0.000330514262618,5.01248162007e-05,1793250380090203392
+344,5.733333333,POSE2_TO_POSE3_RETREAT,769,746,721,691,664,641.103453595,887.103453595,787.103453595,819,653,631,656,0.416563591369,0.00447620796012,0.0797992134352,0.999999942357,8.14095148119e-05,-0.000325614880715,5.13236865726e-05,1793250380106869760
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768.52273814,746,721,691,664,641,887,787,819,653,631.47726186,656,0.415725160789,0.00448367030389,0.0797856565116,0.999999932475,9.04469415589e-05,-0.000352238002226,5.28943584334e-05,1793250380123536384
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,721,691,664,641,887,787,819,653,632,656,0.414897717612,0.00449223741757,0.0797691702539,0.99999992079,0.000101250920775,-0.000381103099671,5.41091152914e-05,1793250380140203008
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,721,691,664,641,887,787,819,653,632,656,0.414152532278,0.00449509740457,0.0797703023202,0.999999924777,0.000110336142733,-0.000368300999106,5.12476088882e-05,1793250380156869632
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768.205761767,746,721,690.794238233,664,641,887.205761767,787,819,653,631.794238233,656,0.413423611078,0.00449482720951,0.0797785667499,0.999999932652,0.000107203022009,-0.000347488390156,4.9542359865e-05,1793250380173536512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768.779618722,746,721,690.220381278,664,641,887.779618722,787,819,653,631.220381278,656,0.412723785291,0.00448895731112,0.0797995905407,0.999999946595,8.22120366124e-05,-0.000312345470281,4.99055838947e-05,1793250380190203392
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768.635582206,745.635582206,721,689.635582206,664.364417794,641,887.635582206,787,819,653,631,656,0.411998428842,0.00448189037938,0.0798003778705,0.999999945138,8.70187565215e-05,-0.000315476926783,5.12427024769e-05,1793250380206870016
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768.043961095,745.043961095,721,689.043961095,664.956038905,641,887.043961095,787,819,653,631,656,0.411257154849,0.00447407713442,0.0797885483864,0.999999933848,0.000110403433207,-0.000342471285034,5.3187014407e-05,1793250380223536640
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,720.463674858,689,664.463674858,641,887,787.536325142,819,653,631,656,0.410579286248,0.00447684465782,0.079780683997,0.999999930333,9.49972302983e-05,-0.000357076128994,5.29742162884e-05,1793250380240203008
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768.114815826,745.114815826,720.114815826,689,664,641,887,788,819,653,631.114815826,656,0.409925450683,0.00448177453927,0.0797807087408,0.999999931414,8.4922068568e-05,-0.000356639338348,5.26190599263e-05,1793250380256869888
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768.689757055,745.689757055,720.689757055,689,664,641,887,788,819,653,631.689757055,656,0.409347531127,0.00449196640579,0.0798110737386,0.999999947748,0.000108689576764,-0.000299908598523,5.23873133873e-05,1793250380273536512
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768.736139054,745.736139054,721,688.736139054,664,641,887,788,819,653,632,656,0.408770836999,0.00449606823456,0.0798300978748,0.999999955457,0.000117942224309,-0.000269009405088,5.30138806853e-05,1793250380290202880
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768.163016616,745.163016616,721,688.163016616,664,641,887,788,819,653,632,656,0.408195579192,0.00449303215839,0.0798358298114,0.999999956421,0.000110182548218,-0.000268386400755,5.46464455479e-05,1793250380306869504
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768.426229843,745,721,687.573770157,664,641,887,787.573770157,819,653,632,656,0.407598867014,0.00448697125047,0.079805920738,0.999999941838,9.92062457949e-05,-0.00032172060488,5.45677338264e-05,1793250380323536384
+358,5.966666667,POSE2_TO_POSE3_RETREAT,769,745,721,687.021165914,664,641,887,787,818.978834086,653,631.978834086,656,0.4069981103,0.00448010246225,0.0797632947639,0.999999917166,8.8027006119e-05,-0.000393734125816,5.37744957448e-05,1793250380340203520
+359,5.983333333,POSE2_TO_POSE3_RETREAT,769,745,721,687.597233321,664,641,887,787,818.402766679,653,631.402766679,656,0.406514899082,0.00448357585769,0.079758692658,0.999999915837,0.000105048330561,-0.00039316344501,5.20821420907e-05,1793250380356869632
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768.827162522,745,721,687.827162522,664,641,887,787,818.172837478,653,631.172837478,656,0.406052967414,0.00448702271557,0.0797629705611,0.999999920649,0.000115325318119,-0.000377896963707,5.09567517969e-05,1793250380373536000
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768.252634884,745,721,687.252634884,664,641,887,787,818.747365116,653,631.747365116,656,0.405640491275,0.0044904078984,0.0797878864189,0.999999938702,0.000109927851167,-0.000328476093038,5.11490359874e-05,1793250380390202624
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745.33111263,721,686.66888737,664,641,887,787,819,653,632,656.33111263,0.40523763932,0.0044930603007,0.0798071753406,0.999999947453,0.000114122684331,-0.000299029650574,5.14959340086e-05,1793250380406868992
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745.922096252,721,686.077903748,664,641,887,787,819,653,632,656.922096252,0.404842340849,0.00449513758609,0.0798220480067,0.999999950045,0.000125845954896,-0.000285259975258,5.19641794553e-05,1793250380423535872
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745.498389018,721,686.501610982,664,641,886.498389018,787,819,653,632,656.498389018,0.404460474063,0.00449710069473,0.0798280669929,0.999999950406,0.000129235473503,-0.000282280611694,5.2954701546e-05,1793250380440202496
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,721,687,664,641,886.078992476,787,819,653,632,656,0.404086776984,0.00449856779189,0.0798318622563,0.999999950124,0.00013086687925,-0.000282293214727,5.41914022922e-05,1793250380456869120
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,721,687,664,641,886.653913852,787,819,653,632,656,0.403751567026,0.00449702967914,0.0798301363659,0.999999947749,0.000129404691386,-0.000290804048933,5.64757961902e-05,1793250380473536000
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768.233997798,745,721,687,664,641,887,787,819,653.233997798,632,656,0.403438647744,0.00449436921249,0.0798285976113,0.999999947376,0.000120005958416,-0.000296107868325,5.62777117591e-05,1793250380490202624
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.821889464,745,721,687,664,641,887,787,819,653.821889464,632,656,0.40315944049,0.00449001131903,0.0798273418775,0.999999949795,9.86041440187e-05,-0.000296561457997,5.23251735775e-05,1793250380506869248
+369,6.150000000,POSE2_TO_POSE3_RETREAT,769,745,721,686.59645852,664,641,887,787,819,653.59645852,632,656,0.402900283891,0.00447980886709,0.0798294273027,0.999999951257,8.22110250563e-05,-0.000296303356209,5.41364896508e-05,1793250380523536128
+370,6.166666667,POSE2_TO_POSE3_RETREAT,769,745,721,686.017518505,664,641,887,787,819,653.017518505,632,656,0.402649842246,0.00446706608857,0.0798329649562,0.99999995225,6.79949241709e-05,-0.000295735919108,5.84530536442e-05,1793250380540202752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768.440537853,745,721,686.559462147,664,641,887,787,818.440537853,653,632,656,0.40243682546,0.00445388294533,0.0798320944944,0.999999953488,4.82231783775e-05,-0.000295138802475,5.99232828367e-05,1793250380556869376
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768.13637037,745,721,686.86362963,664,641,887,787,818,653,632,656,0.402234975656,0.00444441153027,0.0798318325636,0.999999954495,3.33836038122e-05,-0.000293563645835,6.09618262333e-05,1793250380573535744
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768.713242277,745,721,686.286757723,664,641,887,787,818,653,632,656,0.402065425007,0.00444697406715,0.0798339806131,0.99999995582,3.50358268079e-05,-0.000288832230635,6.08928389603e-05,1793250380590202368
+374,6.233333333,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886.705078688,787,818.294921312,653,632,656,0.401912925455,0.00444910553745,0.079838209385,0.999999957572,4.23077266239e-05,-0.000281567400787,6.15250636534e-05,1793250380606868992
+375,6.250000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886.118648174,787,818.881351826,653,632,656,0.401777279737,0.00445081092829,0.079844494806,0.999999959568,5.51342859454e-05,-0.000271798467028,6.28503875892e-05,1793250380623535872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641,886,787,819,653,631.536045408,656,0.40164981424,0.00445749294211,0.0798434151856,0.999999955102,0.000104035945257,-0.000273999985668,6.24172395415e-05,1793250380640202496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768.954986854,745,721,686,664,641,886.045013146,787,819,653,631.045013146,656,0.401525867776,0.00446601524651,0.0798400823731,0.99999994678,0.00015631629582,-0.000279820196993,6.08715639194e-05,1793250380656869376
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768.380670096,745,721,686,664,641,886.619329904,787,819,653,631.619329904,656,0.401418903494,0.00448133442878,0.0798322209224,0.999999945997,0.000140731688967,-0.000292490083862,5.14884963205e-05,1793250380673536000
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,721,685.806567213,664,641,886.806567213,787,818.806567213,653,632,655.806567213,0.401323137972,0.00449057898094,0.0798262217808,0.999999944977,0.000129397764054,-0.000301968601834,4.60098420073e-05,1793250380690202624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,745,721,685.232884832,664,641,886.232884832,787,818.232884832,653,632,655.232884832,0.401249386952,0.00448788204163,0.0798238835614,0.999999944282,0.000126419818923,-0.000305173535121,4.82064727885e-05,1793250380706869248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768.352633876,745,721,685,664,641,886,787,818,653,632,655.352633876,0.401187669975,0.00448538663193,0.0798219929967,0.999999943667,0.000123528341687,-0.000308104987076,4.9774451855e-05,1793250380723535872
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768.946241026,745,721,685,664,641,886,787,818,653,632,655.946241026,0.401134176487,0.00448302893775,0.0798204083377,0.999999943106,0.000120695952213,-0.000310849555178,5.09128403621e-05,1793250380740202752
+383,6.383333333,POSE2_TO_POSE3_RETREAT,769,745,721,685.525571182,664,641,886.525571182,787,818.525571182,653,632,655.474428818,0.40109627921,0.00448524279707,0.07982110859,0.999999944177,0.000119700906466,-0.000307807847317,5.07203580388e-05,1793250380756869120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641.102431185,887,787,819,653,632,655.102431185,0.401061888913,0.00448702422583,0.0798220667246,0.999999945258,0.000118882942009,-0.000304606850355,5.06441950346e-05,1793250380773536000
+385,6.416666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,641.6744846,887,787,819,653,632,655.6744846,0.401036456684,0.00448473588745,0.0798231639935,0.999999945696,0.000118037998566,-0.000303317319682,5.17089473775e-05,1793250380790202624
+386,6.433333333,POSE2_TO_POSE3_RETREAT,768.745325782,745,721,686,664,642,886.745325782,787,819,653.254674218,632,656,0.401015274189,0.00448354646976,0.0798235188559,0.999999945831,0.000117088599428,-0.000303147089933,5.22463906199e-05,1793250380806869504
+387,6.450000000,POSE2_TO_POSE3_RETREAT,768.154393602,745,721,686,664,642,886.154393602,787,819,653.845606398,632,656,0.400999702813,0.00448380800724,0.0798228934851,0.999999945569,0.000116001282729,-0.000304454724226,5.20876035878e-05,1793250380823536128
+388,6.466666667,POSE2_TO_POSE3_RETREAT,768,745,721,686,664,641.572230753,886,787,818.572230753,653.572230753,632,656,0.400990076648,0.00448247896027,0.0798236918122,0.99999994624,0.000113754196944,-0.000303072287843,5.22271315271e-05,1793250380840202752
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.006767884,745,721,686,664,641.006767884,886,787,818,653,632,656,0.400982597124,0.0044806354789,0.0798249960497,0.999999947219,0.000111188121257,-0.000300743984389,5.24656324338e-05,1793250380856869376
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768.58051475,745,721,686,664,641.58051475,886,787,818,653,632,656,0.400978800088,0.0044828231203,0.0798264997876,0.999999947217,0.000116261779011,-0.000298880521213,5.21567366845e-05,1793250380873536000
+391,6.516666667,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,642,886,787.154827436,818.154827436,653,632,656,0.400975871436,0.00448456108962,0.0798278796927,0.999999947407,0.000119720182301,-0.000296918594765,5.18813544508e-05,1793250380890202368
+392,6.533333333,POSE2_TO_POSE3_RETREAT,769,745,721,686,664,642,886,787.730678668,818.730678668,653,632,656,0.400975304188,0.00448507626081,0.0798289228576,0.999999948188,0.000118786207154,-0.000294688916479,5.16971059095e-05,1793250380906868992
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768.685471789,745,721,686,664,641.685471789,886.314528211,787.685471789,819,653.314528211,632,656,0.400975739038,0.00448477379246,0.0798298122724,0.999999948971,0.000118065169903,-0.000292329430367,5.15947418347e-05,1793250380923535616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768.094594755,745,721,686,664,641.094594755,886.905405245,787.094594755,819,653.905405245,632,656,0.400977054346,0.00448375293481,0.0798305666003,0.999999949756,0.00011753122272,-0.000289855893056,5.15643225606e-05,1793250380940202240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768.486169648,745.486169648,721,686,664,641.486169648,887,787,818.513830352,653.513830352,632,656,0.400974727169,0.00448453244836,0.079829465587,0.999999949206,0.000117674121624,-0.00029170035625,5.14990368386e-05,1793250380956869376
+396,6.600000000,POSE2_TO_POSE3_RETREAT,769,745.935205905,721,686,664.12958819,641.935205905,887,787.064794095,818.064794095,653,632,656,0.400971996142,0.00448564078151,0.0798282374966,0.999999948507,0.000118034423135,-0.000293952236902,5.14327477765e-05,1793250380973536000
+397,6.616666667,POSE2_TO_POSE3_RETREAT,769,745.358260192,721,686,665.283479617,641.358260192,887,787.641739808,818.641739808,653,632,656,0.400971560779,0.00448663574135,0.0798288002292,0.999999948686,0.000119093394645,-0.000292918915411,5.14110581908e-05,1793250380990202624
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768.782443885,745,721,685.782443885,665.564887769,641.217556115,886.782443885,787.782443885,819,653,632,656,0.400971716911,0.00448781369138,0.0798296438533,0.999999948924,0.000120222041368,-0.000291671154728,5.12461741848e-05,1793250381006869248
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa7186e0e3b214e21b02cc2217502cc53b3312e1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+267,4.450000000,pose2_to_pose3_retreat,0.623545710001,0.0101501081346,1.07003359622,0.594116388032,0.0188227440286,1.0697049937
+268,4.466666667,pose2_to_pose3_retreat,0.623545527023,0.0101500971979,1.0700335913,0.594116204162,0.0188227300817,1.06970498912
+269,4.483333333,pose2_to_pose3_retreat,0.623545327212,0.0101500758661,1.07003360066,0.594116004532,0.0188227092959,1.06970499678
+270,4.500000000,pose2_to_pose3_retreat,0.623545238484,0.0101500663933,1.07003360482,0.594115915883,0.0188227000657,1.06970500018
+271,4.516666667,pose2_to_pose3_retreat,0.62354516568,0.0101500586208,1.07003360823,0.594115843145,0.0188226924921,1.06970500296
+272,4.533333333,pose2_to_pose3_retreat,0.623544872858,0.010150027359,1.07003362195,0.594115550587,0.0188226620306,1.06970501418
+273,4.550000000,pose2_to_pose3_retreat,0.623544144941,0.0101500288371,1.07003360731,0.594114822871,0.0188226641598,1.06970499868
+274,4.566666667,pose2_to_pose3_retreat,0.623541037738,0.0101501743577,1.07003350109,0.594111715732,0.0188228101332,1.06970489833
+275,4.583333333,pose2_to_pose3_retreat,0.623534467407,0.0101500513528,1.07003356521,0.594105146223,0.0188226897433,1.06970495759
+276,4.600000000,pose2_to_pose3_retreat,0.62351989954,0.0101502475578,1.07003370239,0.594090575686,0.0188228769444,1.06970509648
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+282,4.700000000,pose2_to_pose3_retreat,0.623250494889,0.0101500677369,1.07003359413,0.593821173826,0.0188227065665,1.06970498546
+283,4.716666667,pose2_to_pose3_retreat,0.623177646391,0.0101501379419,1.07003356325,0.593748323017,0.0188227688847,1.06970495388
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+286,4.766666667,pose2_to_pose3_retreat,0.622899870313,0.0101501114987,1.07003363296,0.593470549503,0.0188227506546,1.06970502322
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+288,4.800000000,pose2_to_pose3_retreat,0.622645000494,0.0101501205055,1.0700334946,0.593215678397,0.0188227555132,1.06970489469
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+329,5.483333333,pose2_to_pose3_retreat,0.60098849377,0.0101501599809,1.07003348462,0.571559172538,0.0188227946977,1.06970487727
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+331,5.516666667,pose2_to_pose3_retreat,0.599405225123,0.0101502641657,1.07003344869,0.569975901892,0.0188228921372,1.06970484222
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+349,5.816666667,pose2_to_pose3_retreat,0.585842261613,0.01015027161,1.07003356212,0.556412937731,0.0188228973049,1.06970495314
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+353,5.883333333,pose2_to_pose3_retreat,0.583463702458,0.0101501742741,1.0700333599,0.554034380532,0.0188228070252,1.06970476196
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+366,6.100000000,pose2_to_pose3_retreat,0.578081032255,0.0101501438773,1.07003361348,0.548651710634,0.0188227773568,1.06970500782
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+377,6.283333333,pose2_to_pose3_retreat,0.576144314574,0.010150192157,1.07003347962,0.546714993746,0.0188228284611,1.06970487763
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+381,6.350000000,pose2_to_pose3_retreat,0.575853164152,0.0101500903542,1.07003340164,0.546423843071,0.0188227257226,1.06970479784
+382,6.366666667,pose2_to_pose3_retreat,0.575808959531,0.0101501440068,1.07003351533,0.546379637981,0.0188227777207,1.06970490987
+383,6.383333333,pose2_to_pose3_retreat,0.57577311567,0.0101501661533,1.07003355655,0.54634379424,0.0188228003006,1.06970495178
+384,6.400000000,pose2_to_pose3_retreat,0.575744321855,0.0101501754933,1.07003353336,0.546314999607,0.0188228068045,1.06970492698
+385,6.416666667,pose2_to_pose3_retreat,0.575722040328,0.0101502072964,1.07003361409,0.546292715993,0.0188228314555,1.06970500593
+386,6.433333333,pose2_to_pose3_retreat,0.575704537192,0.0101501264333,1.07003347031,0.546275216627,0.0188227637564,1.069704872
+387,6.450000000,pose2_to_pose3_retreat,0.575691707817,0.0101500687889,1.0700334048,0.546262386605,0.0188227036147,1.06970479849
+388,6.466666667,pose2_to_pose3_retreat,0.575682592527,0.0101500572475,1.07003343717,0.546253272214,0.018822695129,1.06970483096
+389,6.483333333,pose2_to_pose3_retreat,0.575676467025,0.0101500686319,1.07003345595,0.546247147351,0.0188227088211,1.06970485348
+390,6.500000000,pose2_to_pose3_retreat,0.575672708251,0.0101500882558,1.07003337244,0.546243387109,0.0188227235734,1.06970477288
+391,6.516666667,pose2_to_pose3_retreat,0.575670551061,0.0101500970929,1.07003333705,0.546241229279,0.0188227302665,1.0697047383
+392,6.533333333,pose2_to_pose3_retreat,0.575669786231,0.010150096901,1.07003334168,0.546240464498,0.0188227302081,1.06970474204
+393,6.550000000,pose2_to_pose3_retreat,0.575669224222,0.01015009676,1.07003334508,0.546239902525,0.0188227301652,1.06970474479
+394,6.566666667,pose2_to_pose3_retreat,0.575668689482,0.0101500966258,1.07003334832,0.54623936782,0.0188227301244,1.06970474741
+395,6.583333333,pose2_to_pose3_retreat,0.575668172941,0.0101500964962,1.07003335145,0.546238851312,0.018822730085,1.06970474994
+396,6.600000000,pose2_to_pose3_retreat,0.57566761794,0.010150096357,1.07003335481,0.546238296347,0.0188227300426,1.06970475265
+397,6.616666667,pose2_to_pose3_retreat,0.57566705706,0.0101500971103,1.07003335768,0.546237735488,0.0188227308472,1.06970475493
+398,6.633333333,pose2_to_pose3_retreat,0.575666661339,0.0101500986788,1.07003335909,0.546237339766,0.0188227323977,1.06970475599
+399,6.650000000,pose2_to_pose3_retreat,0.575666279944,0.0101501001904,1.07003336046,0.54623695837,0.018822733892,1.06970475702
+400,6.666666667,pose2_to_pose3_retreat,0.575666112766,0.010150100853,1.07003336105,0.546236791192,0.018822734547,1.06970475747
+401,6.683333333,pose2_to_pose3_retreat,0.575666085133,0.0101501009626,1.07003336115,0.546236763559,0.0188227346553,1.06970475754
+402,6.700000000,pose2_to_pose3_retreat,0.575665966855,0.0101501014314,1.07003336158,0.54623664528,0.0188227351187,1.06970475786
+403,6.716666667,pose2_to_pose3_retreat,0.575665883121,0.0101501017632,1.07003336188,0.546236561546,0.0188227354467,1.06970475808
+404,6.733333333,pose2_to_pose3_retreat,0.57566543443,0.0101501035416,1.07003336348,0.546236112854,0.0188227372047,1.06970475929
+405,6.750000000,pose2_to_pose3_retreat,0.575665124295,0.0101501103865,1.07003340247,0.546235802653,0.01882274378,1.06970479704
+406,6.766666667,pose2_to_pose3_retreat,0.575664892544,0.0101501175641,1.07003344551,0.546235570829,0.0188227506623,1.06970483881
+407,6.783333333,pose2_to_pose3_retreat,0.575664680188,0.0101501241411,1.07003348496,0.546235358406,0.0188227569686,1.06970487709
+408,6.800000000,pose2_to_pose3_retreat,0.57566452346,0.0101501226941,1.07003353506,0.546235201864,0.0188227561396,1.06970492682
+409,6.816666667,pose2_to_pose3_retreat,0.575664435111,0.0101501094627,1.07003360466,0.546235114085,0.0188227448678,1.06970499717
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+411,6.850000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aedc1c89e2ce1628efe36c91b1d0b355ddc861d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0511daf66bf9da3bf9a4f242f13992a5e9dbc42b40426653ff778c2b04f0072
+size 25552885
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..454aefa7bb93d31ef77e9ab602e9c91164246cf9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+14,0.233333333,BASELINE,765,745,714,680,658,634.81511921,878.81511921,786,805,652.18488079,631,651.18488079,0.400775563019,-0.00543377874769,0.059868199857,0.999999931714,-8.00358040524e-05,-0.000358742335607,-3.83500254257e-05,1793244709979009536
+15,0.250000000,BASELINE,765,745,714,680,658,634.235962929,878.235962929,786,805,652.764037071,631,651.764037071,0.400776112383,-0.00543601925241,0.0598682175728,0.999999932132,-8.10532318441e-05,-0.000357395709113,-3.78872967805e-05,1793244709995676160
+16,0.266666667,BASELINE,765,745,714,680,658,634.341156679,878.341156679,786,805,653,631,652,0.400776027715,-0.00543676188851,0.0598678535687,0.999999931996,-8.10936860781e-05,-0.000357757292006,-3.79688654095e-05,1793244710012343040
+17,0.283333333,BASELINE,765,745,714,680,658,634.916875935,878.916875935,786,805,653,631,652,0.400775507118,-0.00543647466357,0.0598672271126,0.999999931479,-8.04624212157e-05,-0.000359293355856,-3.84246661394e-05,1793244710029010176
+18,0.300000000,BASELINE,765,745,714,680,658,634.497683083,879,786.502316917,805,652.497683083,631,652,0.400774550971,-0.00543507187193,0.059866980203,0.99999993127,-7.92465540696e-05,-0.000360132471969,-3.85205932318e-05,1793244710045676032
+19,0.316666667,BASELINE,765,745,714,680,658,634.088161232,879,787,805,652,631,652,0.400774071701,-0.00543378496726,0.0598670995046,0.999999931296,-7.80315886522e-05,-0.000360334836123,-3.84550939025e-05,1793244710062342144
+20,0.333333333,BASELINE,765,745,714,680,658,634.667118126,879,787,805,652,631,652,0.400776656387,-0.00543419119344,0.0598689009594,0.999999932336,-7.7370830098e-05,-0.000357647113519,-3.78290022576e-05,1793244710079008768
+21,0.350000000,BASELINE,765,745,714,680,658,635,879,786.754168775,805,652,631,652,0.400777056338,-0.00543478467985,0.0598692828755,0.999999932406,-7.8381835427e-05,-0.000357251139004,-3.76283148908e-05,1793244710095675648
+22,0.366666667,BASELINE,765,745,714,680,658,635,879,786.175785521,805,652,631,652,0.400774500855,-0.00543563148543,0.0598677444885,0.99999993116,-8.16543455224e-05,-0.000359955362737,-3.80030998582e-05,1793244710112342784
+23,0.383333333,BASELINE,765,745,714,680,658,635,879.399686073,786.399686073,805.399686073,652.399686073,631,652,0.400772787087,-0.00543490842868,0.0598668467345,0.999999930539,-8.14699776489e-05,-0.000361722202215,-3.79761212344e-05,1793244710129009408
+24,0.400000000,BASELINE,765,745,714,680,658,635,879.973886403,786.973886403,805.973886403,652.973886403,631,652,0.400771440834,-0.00543349992567,0.0598662286988,0.999999930191,-7.97762392546e-05,-0.000363079753419,-3.77737212828e-05,1793244710145676288
+25,0.416666667,BASELINE,765,744.437465371,714,680,658.562534629,635,879.437465371,786.437465371,806,653,630.437465371,652,0.400773221024,-0.00543406588259,0.0598676191723,0.999999930876,-8.06995968189e-05,-0.000360978962025,-3.78123213054e-05,1793244710162342656
+26,0.433333333,BASELINE,765,744.148928191,713.851071809,680,658.851071809,634.851071809,878.851071809,786.148928191,805.851071809,653,630.148928191,652,0.400774552829,-0.00543466959101,0.0598685611327,0.99999993135,-8.15815553968e-05,-0.000359451846044,-3.79256585205e-05,1793244710179009024
+27,0.450000000,BASELINE,765,744.726844476,713.273155524,680,658.273155524,634.273155524,878.273155524,786.726844476,805.273155524,653,630.726844476,652,0.400774163982,-0.0054351110649,0.0598679354993,0.99999993109,-8.19850899172e-05,-0.000360051831679,-3.8221201232e-05,1793244710195675904
+28,0.466666667,BASELINE,765,745,713.304781738,680,658,634,878.304781738,786.695218262,805,653,631,652,0.400774096864,-0.00543538395224,0.0598678689312,0.999999930955,-8.31417467896e-05,-0.000360153214751,-3.8293802259e-05,1793244710212342528
+29,0.483333333,BASELINE,765,745,713.882737768,680,658,634,878.882737768,786.117262232,805,653,631,652,0.400774318112,-0.00543550573632,0.0598683034503,0.999999930931,-8.49734232991e-05,-0.000359807702896,-3.81665817917e-05,1793244710229008640
+30,0.500000000,BASELINE,765.456211273,745,714,680,658,634.456211273,879.456211273,786,805,652.543788727,631,651.543788727,0.400774319194,-0.00543463323237,0.0598683721166,0.999999931054,-8.35952133643e-05,-0.000359774054356,-3.82995522633e-05,1793244710245675520
+31,0.516666667,BASELINE,766,745,714,680.029511265,658,635,879.970488735,786.029511265,805,652,631,651.029511265,0.400774191352,-0.0054335380444,0.0598683091023,0.999999931176,-8.14601016554e-05,-0.000359904479701,-3.84919475724e-05,1793244710262342400
+32,0.533333333,BASELINE,766,745,714,680.621242148,658,635,879.378757852,786.621242148,805,652,631,651.621242148,0.400772674994,-0.00543302193247,0.0598675115082,0.999999930624,-8.0470402099e-05,-0.00036164841327,-3.85547464648e-05,1793244710279009280
+33,0.550000000,BASELINE,765.791444858,744.791444858,714,681,658,634.791444858,879,787,805,652.208555142,631,652,0.400771811883,-0.00543356320886,0.059866683421,0.999999930248,-8.0877353366e-05,-0.000362601980097,-3.84934820938e-05,1793244710295676160
+34,0.566666667,BASELINE,765.211988836,744.211988836,714,681,658,634.211988836,879,787,805,652.788011164,631,652,0.400772110526,-0.00543598497723,0.059865801104,0.999999930185,-8.37681515306e-05,-0.000362149934208,-3.82115797915e-05,1793244710312342784
+35,0.583333333,BASELINE,765.363353506,744.363353506,714,680.636646494,658.363353506,634.363353506,879,786.636646494,805,652.636646494,630.636646494,652,0.40077219943,-0.0054353618032,0.0598658578932,0.999999930351,-8.2497170461e-05,-0.000361982393986,-3.82290335461e-05,1793244710329009408
+36,0.600000000,BASELINE,765.936322754,744.936322754,714,680.063677246,658.936322754,634.936322754,879,786.063677246,805,652.063677246,630.063677246,652,0.400772167338,-0.00543298202639,0.0598664564451,0.999999930641,-7.88252923971e-05,-0.000361978982768,-3.84191833968e-05,1793244710345675776
+37,0.616666667,BASELINE,765.475883356,744.475883356,714,680,658.475883356,635,878.475883356,786.524116644,805,652,630.524116644,652,0.40077234465,-0.00543287053806,0.0598666728376,0.999999930648,-7.85319624599e-05,-0.000362017918853,-3.84793903944e-05,1793244710362342144
+38,0.633333333,BASELINE,765,744.111743376,714,680,658,635,878.111743376,786.888256624,805,652,631,652,0.400772580675,-0.0054331191244,0.0598669030062,0.999999930651,-7.89752695694e-05,-0.000361902847873,-3.85612140007e-05,1793244710379008768
+39,0.650000000,BASELINE,765,744.69091757,714,680,658,635,878.69091757,786.30908243,805,652,631,652,0.400772952773,-0.00543368758417,0.059867390676,0.999999930784,-8.0732957484e-05,-0.000361121405731,-3.88014233724e-05,1793244710395675904
+40,0.666666667,BASELINE,765.269457892,745,714,680,658.269457892,635,879,786.269457892,805,652.269457892,631,652,0.40077338912,-0.00543407741902,0.0598677607721,0.999999930925,-8.12359015442e-05,-0.000360633589566,-3.8659835876e-05,1793244710412342528
+41,0.683333333,BASELINE,765.847272801,745,714,680,658.847272801,635,879,786.847272801,805,652.847272801,631,652,0.400773898989,-0.00543426284251,0.0598679963214,0.999999931077,-8.03029659653e-05,-0.000360481787475,-3.80813350407e-05,1793244710429009152
+42,0.700000000,BASELINE,766,745,714,680,659,634.575603886,878.575603886,786.575603886,805,653,631,652,0.400773518158,-0.00543400178386,0.0598676582167,0.999999930997,-7.96303542728e-05,-0.000360847965103,-3.81190488748e-05,1793244710445675520
+43,0.716666667,BASELINE,765.998706348,745,714,680,658.998706348,634,878,786.001293652,805,653,631,652,0.400772818959,-0.00543358312475,0.0598671163016,0.999999930834,-7.9057378555e-05,-0.000361399222063,-3.83775793869e-05,1793244710462342144
+44,0.733333333,BASELINE,765.411520668,745,714,680,658.411520668,634,878,786.588479332,805,653,631,652,0.400772865443,-0.00543443864946,0.0598676133998,0.999999930626,-8.12496884095e-05,-0.000361487406778,-3.83737153679e-05,1793244710479008768
+45,0.750000000,BASELINE,765,745,714,680,658.173696856,634,878,787,805,653,631,652,0.400773042051,-0.0054346723955,0.0598678475786,0.99999993059,-8.18733969684e-05,-0.000361449792415,-3.83574831938e-05,1793244710495675392
+46,0.766666667,BASELINE,765,745,714,680,658.754303611,634,878,787,805,653,631,652,0.400773523491,-0.00543344953536,0.0598674658309,0.999999930957,-7.88224308045e-05,-0.000361117475589,-3.83122768364e-05,1793244710512341760
+47,0.783333333,BASELINE,765,745,714,680,658.668791591,634.331208409,878,787,805,653,631,652,0.400773641324,-0.00543435210287,0.0598673139148,0.999999930965,-7.95785632963e-05,-0.000360933134556,-3.82573085199e-05,1793244710529008640
+48,0.800000000,BASELINE,765,745,714,680,658.094602557,634.905397443,878,787,805,653,631,652,0.400773492408,-0.00543681392334,0.0598673306074,0.999999930706,-8.31276535798e-05,-0.00036085735127,-3.81951786447e-05,1793244710545675776
+49,0.816666667,BASELINE,765,745,714,680,658,634.523054657,878,787,805,652.523054657,631,652,0.400773222848,-0.00543621955358,0.0598672493437,0.999999930691,-8.29642383101e-05,-0.000360923108386,-3.83263209885e-05,1793244710562342400
+50,0.833333333,BASELINE,765,745,714,680,658.050308265,634.050308265,878.050308265,787,805,652,631,652,0.400773069871,-0.00543512985066,0.0598672064726,0.999999930746,-8.21208455266e-05,-0.000360952438541,-3.84349408459e-05,1793244710579009024
+51,0.850000000,BASELINE,765,745,714,680,658.649141769,634.649141769,878.649141769,787,805,652,631,652,0.400774447504,-0.00543521254033,0.0598677928879,0.999999931032,-8.18481967523e-05,-0.000360280174979,-3.78823084161e-05,1793244710595675904
+52,0.866666667,BASELINE,765,745,714,680,658.761334181,635,879,786.761334181,805,652,631,652,0.400774502199,-0.00543539277159,0.0598679111866,0.999999931038,-8.16971100401e-05,-0.000360325563098,-3.76149377717e-05,1793244710612342272
+53,0.883333333,BASELINE,765,745,714,680,658.184982038,635,879,786.184982038,805,652,631,652,0.400772685079,-0.00543571101362,0.0598673671511,0.999999930648,-8.17180205171e-05,-0.000361386350783,-3.77511817402e-05,1793244710629008896
+54,0.900000000,BASELINE,765.390127077,745,714,680,658,634.609872923,878.609872923,786.390127077,805.390127077,652,631,652,0.400772721023,-0.00543559001594,0.0598674384877,0.999999930699,-8.16184929824e-05,-0.00036127142784,-3.77271600979e-05,1793244710645675520
+55,0.916666667,BASELINE,765.964648654,745,714,680,658,634.035351346,878.035351346,786.964648654,805.964648654,652,631,652,0.400773632822,-0.00543526141054,0.0598678006814,0.999999930958,-8.14620401312e-05,-0.00036060080241,-3.76273885256e-05,1793244710662341888
+56,0.933333333,BASELINE,765.448430946,745,714,680,658.551569054,634.551569054,878,786.448430946,805.448430946,652,631,652,0.400773026304,-0.00543456444405,0.0598676340068,0.999999931038,-7.96658941911e-05,-0.000360761835083,-3.7792299089e-05,1793244710679008768
+57,0.950000000,BASELINE,765,745,714,679.86202336,658.86202336,634.86202336,878,786,805,652.13797664,631,652,0.400772421105,-0.00543394721875,0.0598673020168,0.999999930966,-7.84481388963e-05,-0.000361213291008,-3.7945076629e-05,1793244710695675648
+58,0.966666667,BASELINE,765,745,714,679.279883666,658.279883666,634.279883666,878,786,805,652.720116334,631,652,0.400772140616,-0.00543366443821,0.0598665494827,0.999999930447,-7.94383739708e-05,-0.000362424119348,-3.80029312775e-05,1793244710712342528
+59,0.983333333,BASELINE,765,745,714,679.298308281,658,634.298308281,878.298308281,786.298308281,805,652.701691719,631,652,0.400772641482,-0.0054335584354,0.0598665806956,0.999999930354,-8.00322002311e-05,-0.00036253128219,-3.81722933687e-05,1793244710729008896
+60,1.000000000,BASELINE,765,745,714,679.872844751,658,634.872844751,878.872844751,786.872844751,805,652.127155249,631,652,0.40077386587,-0.00543361612561,0.0598673376443,0.999999930657,-8.02589590582e-05,-0.000361616470449,-3.84449093856e-05,1793244710745675264
+61,1.016666667,BASELINE,765,744.555787234,714,680,658,634.555787234,878.555787234,786.555787234,805,652.444212766,631,652,0.400774160179,-0.00543399249554,0.0598676938711,0.999999930988,-7.99868910035e-05,-0.000360770685844,-3.83475726516e-05,1793244710762341888
+62,1.033333333,BASELINE,765,744.015278976,714,680,658,634,878.015278976,786,805,652.984721024,631,652,0.400774181203,-0.00543446291537,0.059867932823,0.99999993131,-7.95792311324e-05,-0.000359987806106,-3.81455958322e-05,1793244710779008256
+63,1.050000000,BASELINE,765,744.609014508,714,680,658,634,878.609014508,786,805,652.390985492,631,652,0.400773863868,-0.00543506487424,0.0598680437593,0.999999931023,-7.94057466336e-05,-0.000360843712691,-3.79628643559e-05,1793244710795675136
+64,1.066666667,BASELINE,765,745,714,680,658,634,879,786.197587677,805,652,631,652,0.400773330693,-0.00543543905671,0.0598679238925,0.999999930759,-7.99400277264e-05,-0.000361466131289,-3.78663506374e-05,1793244710812341760
+65,1.083333333,BASELINE,765,745,714,680,658,634,879,786.77620565,805,652,631,652,0.400772381289,-0.00543537399257,0.0598673589425,0.99999993054,-8.18391719491e-05,-0.00036163828898,-3.79361002224e-05,1793244710829008640
+66,1.100000000,BASELINE,765,745,714,680,658,634,879,786.648425255,805,652.351574745,630.648425255,652,0.400771763555,-0.00543495597916,0.0598667915646,0.999999930294,-8.2316657688e-05,-0.00036218674569,-3.81625362497e-05,1793244710845675264
+67,1.116666667,BASELINE,765,745,714,680,658,634,879,786.075105312,805,652.924894688,630.075105312,652,0.400771355013,-0.00543431535362,0.0598662226554,0.999999930031,-8.18974750224e-05,-0.000362972541682,-3.84877975355e-05,1793244710862342400
+68,1.133333333,BASELINE,765,745,714,680,658.513315043,634,878.486684957,786,804.486684957,653,630.513315043,652,0.400771586924,-0.00543461561778,0.0598662848343,0.99999992998,-8.1185712253e-05,-0.000363282971251,-3.83998368769e-05,1793244710879009024
+69,1.150000000,BASELINE,765,745,714,679.898090277,658.898090277,634.101909723,878.101909723,786.101909723,804,653,631,652,0.40077215898,-0.00543492836947,0.0598665509072,0.999999930043,-8.05122324373e-05,-0.000363276456446,-3.82345685809e-05,1793244710895675392
+70,1.166666667,BASELINE,765,745,714,679.319331539,658.319331539,634.680668461,878.680668461,786.680668461,804,653,631,652,0.400773870867,-0.00543463587262,0.0598673258739,0.999999930494,-8.02242622455e-05,-0.000362122228222,-3.79990437341e-05,1793244710912342016
+71,1.183333333,BASELINE,765,745,714,679,658,634.740577989,879,786.740577989,804.259422011,652.740577989,631,652,0.400774127933,-0.00543451839113,0.0598676171871,0.99999993072,-8.02027283278e-05,-0.000361503945821,-3.79850458182e-05,1793244710929008896
+72,1.200000000,BASELINE,765,745,714,679,658,634.161830747,879,786.161830747,804.838169253,652.161830747,631,652,0.400772594247,-0.00543461633782,0.0598673131663,0.99999993067,-8.0509153532e-05,-0.000361545364512,-3.82437276571e-05,1793244710945675520
+73,1.216666667,BASELINE,765,745,714,679.41424123,658,634,879,786,805,652,631,652,0.400772560389,-0.00543463610224,0.0598673917574,0.999999930729,-8.12709905688e-05,-0.000361225673093,-3.81203667326e-05,1793244710962342144
+74,1.233333333,BASELINE,765,745,714,679.989274739,658,634,879,786,805,652,631,652,0.400773108706,-0.00543462551933,0.0598676188635,0.999999930829,-8.22096006875e-05,-0.000360765812819,-3.78487117013e-05,1793244710979008768
+75,1.250000000,BASELINE,765,745,714,680,658,634.577226414,879,786.577226414,805,652,631,652,0.40077227799,-0.00543496803272,0.0598668852694,0.999999930241,-8.12981171611e-05,-0.000362575864156,-3.80534642666e-05,1793244710995675392
+76,1.266666667,BASELINE,765,745,714,680,658,635,879,787,804.83696057,652,631,652,0.400771476567,-0.00543560669145,0.0598663896167,0.999999929707,-8.13392234376e-05,-0.000364026717593,-3.81349852365e-05,1793244711012342272
+77,1.283333333,BASELINE,765,745,714,680,658,635,879,787,804.25724085,652,631,652,0.40077081699,-0.00543698505838,0.0598665487366,0.999999929351,-8.39047319942e-05,-0.00036444930977,-3.7878421978e-05,1793244711029008896
+78,1.300000000,BASELINE,765,745,714,680,658,634.679783433,879,786.679783433,804.320216567,652,631,652,0.400770369689,-0.00543628292894,0.0598665222861,0.999999929206,-8.44036826182e-05,-0.000364724642174,-3.79539948019e-05,1793244711045675264
+79,1.316666667,BASELINE,765,745,714,680,658,634.104130677,879,786.104130677,804.895869323,652,631,652,0.40077009172,-0.00543392119117,0.0598663478065,0.999999929232,-8.32541435207e-05,-0.000364882505698,-3.82945120024e-05,1793244711062341632
+80,1.333333333,BASELINE,765,744.519688831,714,680,658,634,879,786.480311169,805,652,631,652,0.40077156481,-0.00543344278675,0.0598670318489,0.999999930101,-8.15374786038e-05,-0.000362883846732,-3.82638824328e-05,1793244711079008256
+81,1.350000000,BASELINE,765,744,713.934088825,680,658,634.065911175,879,786.934088825,805,652.065911175,631,652,0.400773293663,-0.00543340495321,0.0598678071087,0.999999931053,-7.9842338414e-05,-0.000360642277865,-3.81700996343e-05,1793244711095675136
+82,1.366666667,BASELINE,765,744,713.354588982,680,658,634.645411018,879,786.354588982,805,652.645411018,631,652,0.40077400221,-0.00543355924699,0.0598678157921,0.999999931247,-7.92908388686e-05,-0.000360218890539,-3.82228917637e-05,1793244711112342016
+83,1.383333333,BASELINE,765,744.223348552,713.223348552,680,658,634.776651448,879,786,805.223348552,652.776651448,631,652,0.400773521852,-0.00543393969886,0.0598674633144,0.999999930951,-7.91380579004e-05,-0.00036107962674,-3.81682278274e-05,1793244711129008896
+84,1.400000000,BASELINE,765,744.798823076,713.798823076,680,658,634.201176924,879,786,805.798823076,652.201176924,631,652,0.400771167094,-0.00543467670616,0.0598665414387,0.999999929876,-7.96138869933e-05,-0.00036396488123,-3.79441512429e-05,1793244711145675776
+85,1.416666667,BASELINE,765,745,714,680,658,634.375863838,879,786,805.624136162,652.375863838,631,652,0.400771061443,-0.00543455435066,0.0598668649449,0.999999929916,-8.03366630177e-05,-0.000363682552031,-3.80634974946e-05,1793244711162342400
+86,1.433333333,BASELINE,765,745,714,680,658,634.953746383,879,786,805.046253617,652.953746383,631,652,0.400772164639,-0.00543397010615,0.059867857817,0.999999930555,-8.11921676642e-05,-0.000361697714728,-3.8367426129e-05,1793244711179008768
+87,1.450000000,BASELINE,765,745,714,680,658,635,878.458741905,786,805,652.458741905,631,651.458741905,0.400772915265,-0.00543418771275,0.0598678744948,0.999999930679,-8.13758173303e-05,-0.000361340633945,-3.81260661554e-05,1793244711195675392
+88,1.466666667,BASELINE,765,745,714,680,658.255166839,635,878.127583419,786,804.872416581,652,631,651.127583419,0.400773375159,-0.00543434789102,0.0598676879789,0.999999930708,-8.16037040416e-05,-0.000361218664595,-3.80332417603e-05,1793244711212342016
+89,1.483333333,BASELINE,765,745,714,680,659.41348855,635,878.706744275,786,804.293255725,652,631,651.706744275,0.400772914594,-0.00543405787636,0.0598670828808,0.999999930561,-8.21950616576e-05,-0.000361427602943,-3.86340739577e-05,1793244711229008640
+90,1.500000000,BASELINE,765,745,714,680,659.431203155,634.715601578,879.284398422,786,804.284398422,652,631,652,0.400772792307,-0.00543404160924,0.0598670458538,0.999999930677,-8.1697660739e-05,-0.00036121884039,-3.86335364251e-05,1793244711245675520
+91,1.516666667,BASELINE,765,745,714,680,658.278985824,634.139492912,879.860507088,786,804.860507088,652,631,652,0.400773016995,-0.00543430612766,0.0598675915029,0.999999931061,-8.00835095049e-05,-0.000360581637923,-3.80161680416e-05,1793244711262341888
+92,1.533333333,BASELINE,765,745,714,680,658,634,879.159987632,786.420006184,805,652,631,651.579993816,0.400773528319,-0.00543389117947,0.0598677996715,0.999999931201,-8.00469368914e-05,-0.000360196997888,-3.80646023244e-05,1793244711279009280
+93,1.550000000,BASELINE,765,745,714,680,658,634,878.051602424,786.974198788,805,652,631,651.025801212,0.400774131218,-0.00543325915071,0.0598679000195,0.999999931263,-8.05143796502e-05,-0.000359893048158,-3.83257517025e-05,1793244711295676672
+94,1.566666667,BASELINE,765,744.415496656,714,680,658,634,878.584503344,786.415496656,805,652.584503344,631,651.584503344,0.400773500678,-0.00543525569345,0.0598679609911,0.999999930942,-8.19572790885e-05,-0.000360501899574,-3.79105158715e-05,1793244711312343040
+95,1.583333333,BASELINE,765,744.186485451,714,680,658,634.186485451,879,786,805,653,631,652,0.400772858293,-0.00543654043199,0.0598679175952,0.999999930625,-8.26918090892e-05,-0.000361248872046,-3.75792954996e-05,1793244711329009408
+96,1.600000000,BASELINE,765,744.765200479,714,680,658,634.765200479,879,786,805,653,631,652,0.400772317672,-0.00543605809321,0.0598676587301,0.999999930357,-8.18362644056e-05,-0.000362192604066,-3.7494248635e-05,1793244711345675776
+97,1.616666667,BASELINE,765,745,714,680,658,635,878.658536109,786.341463891,805,652.658536109,631,652,0.400772139939,-0.00543522008913,0.0598673795935,0.999999930285,-8.13882240292e-05,-0.000362468905895,-3.7710031413e-05,1793244711362342144
+98,1.633333333,BASELINE,765,745,714,680,658,635,878.08394651,786.91605349,805,652.08394651,631,652,0.400772209958,-0.00543413926372,0.059867086617,0.999999930348,-8.12183968104e-05,-0.000362289536834,-3.81311979132e-05,1793244711379008512
+99,1.650000000,BASELINE,764.507612841,745,714,680,658,634.507612841,878.492387159,787,805.492387159,652,630.507612841,652,0.400772409713,-0.00543481640616,0.0598669884746,0.999999930342,-8.24266110088e-05,-0.000362031776272,-3.81477391152e-05,1793244711395675392
+100,1.666666667,BASELINE,764.070591067,744.929408933,714,680,658,634,879,787,805.929408933,652,630.070591067,652,0.400772601768,-0.00543551820601,0.059866916056,0.999999930352,-8.34037853502e-05,-0.000361780064093,-3.81337390375e-05,1793244711412342272
+101,1.683333333,BASELINE,764.660355304,744.339644696,714,680,658,634,879,787,805.339644696,652,630.660355304,652,0.400772573932,-0.00543418922413,0.0598667876583,0.999999930583,-8.09476900864e-05,-0.00036167147918,-3.84042761838e-05,1793244711429009408
+102,1.700000000,BASELINE,765,744.246098352,714,680,658,634,878.753901648,786.753901648,805,652,631.246098352,652,0.400772733119,-0.00543391377227,0.0598670583478,0.999999930754,-8.01275203257e-05,-0.000361377089577,-3.84430724657e-05,1793244711445676288
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+104,1.733333333,BASELINE,765,745,714,680,658,634.402548475,878,786.402548475,805,652.402548475,631.19490305,652,0.400773716233,-0.00543524630395,0.0598678864966,0.999999930898,-8.19478120879e-05,-0.000360606618113,-3.8102244727e-05,1793244711479008768
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+106,1.766666667,BASELINE,765,745,713.432056598,680,658,634.432056598,878.567943402,786.432056598,805,652.432056598,630.567943402,652,0.40077403939,-0.00543502692157,0.0598677255108,0.999999930706,-8.17893883699e-05,-0.00036118379919,-3.79968990369e-05,1793244711512341504
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.400773872551,-0.00543431839666,0.0598675086087,0.999999930822,-8.14438019181e-05,-0.000360932371871,-3.80833267222e-05,1793244711553482752
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.573731396,878.573731396,786,805,652.573731396,631,652,0.400773279716,-0.00543586833458,0.0598677430372,0.999999930309,-8.36261660558e-05,-0.000361880625893,-3.78257808143e-05,1793244711570149632
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.151507266,745,714,679.848492734,658.151507266,635,878.848492734,786,805,652.848492734,631,652,0.400772788917,-0.00543659492012,0.059867730911,0.999999930015,-8.45879953871e-05,-0.000362486012179,-3.7658921847e-05,1793244711586816256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.740974572,745,714,679.259025428,658.740974572,635,878.259025428,786,805,652.259025428,631,652,0.40077259307,-0.00543494145225,0.0598670060721,0.999999930365,-8.20216414686e-05,-0.000362100275476,-3.77542103546e-05,1793244711603482880
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.67584203,745,714,679.32415797,658.67584203,634.67584203,878.32415797,786,805,652,631,651.67584203,0.400771968366,-0.00543499467864,0.0598664523218,0.999999930169,-8.14221667696e-05,-0.000362771986589,-3.77944099649e-05,1793244711620149504
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.097584471,745,714,679.902415529,658.097584471,634.097584471,878.902415529,786,805,652,631,651.097584471,0.400771007489,-0.00543638574146,0.0598660326839,0.999999929547,-8.23644812522e-05,-0.000364272605483,-3.77914267161e-05,1793244711636816128
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.520026084,714,680,658,634.479973916,879,786,805,652,631,651,0.400773062027,-0.00543581262959,0.0598675307147,0.999999930431,-8.18480028754e-05,-0.000361966837111,-3.76739277292e-05,1793244711653482752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.057187157,714,680,658,634.942812843,879,786,805,652,631,651,0.400775812616,-0.00543493162578,0.0598692404348,0.999999931465,-8.12350563571e-05,-0.000359245926489,-3.75881772657e-05,1793244711670149376
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.632559154,714,680,658,634.367440846,879,786,805,652,631,651,0.400779323204,-0.00543487399184,0.0598693406226,0.999999931165,-8.24315481319e-05,-0.000359765453059,-3.80007669301e-05,1793244711686816000
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.205920144,634.205920144,879,786,805,652,630.794079856,651.205920144,0.400786006016,-0.00543482263108,0.0598701643901,0.999999930946,-8.29423325449e-05,-0.000360239928574,-3.81631662611e-05,1793244711703482880
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.775727368,634.775727368,879,786,805,652,630.224272632,651.775727368,0.400798294553,-0.00543478235582,0.0598722668151,0.999999930872,-8.22413847276e-05,-0.000360634793092,-3.78834474144e-05,1793244711720150016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.636605127,634.636605127,879,786,805,652.363394873,630.363394873,652,0.400824114543,-0.00543606845231,0.059875820926,0.999999932068,-8.24571970422e-05,-0.000357283324515,-3.76066322195e-05,1793244711736816384
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.037345173,634.037345173,879,786,805,652.962654827,630.962654827,652,0.400858717258,-0.00543821544366,0.0598803172683,0.99999993406,-8.32680416313e-05,-0.000351500260949,-3.73317016401e-05,1793244711753483008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652.453685121,631,652,0.400899318821,-0.0054383347082,0.0598801557548,0.999999934502,-8.20285139311e-05,-0.000350473677392,-3.78844761063e-05,1793244711770149376
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.129003944,745,714,680,658.129003944,634.129003944,878.870996056,786.129003944,805,652,631,651.870996056,0.400944932963,-0.00543853289127,0.0598792039177,0.999999934628,-8.11073145914e-05,-0.000350254387095,-3.85609764933e-05,1793244711786816000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.711924666,745,714,680,658.711924666,634.711924666,878.288075334,786.711924666,805,652,631,651.288075334,0.40100678168,-0.00543948294302,0.0598765604662,0.999999934008,-8.178567312e-05,-0.000351763358027,-3.9479263653e-05,1793244711803482624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.709452626,745,714,680,658.709452626,634.709452626,878.290547374,786.709452626,805,652.290547374,631.290547374,651.290547374,0.401080015752,-0.00544131046442,0.0598752533283,0.999999933808,-8.36224869235e-05,-0.000351809183401,-4.02698702609e-05,1793244711820149248
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.135029277,745,714,680,658.135029277,634.135029277,878.864970723,786.135029277,805,652.864970723,631.864970723,651.864970723,0.401164373751,-0.00544399530739,0.0598752518203,0.999999934014,-8.65911561078e-05,-0.00035042545912,-4.09357279966e-05,1793244711836815872
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,653,631.558039226,652,0.40127222037,-0.00544663099571,0.0598784118165,0.999999937002,-8.86064071524e-05,-0.000341151058658,-4.19559629843e-05,1793244711853482752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652.980244823,631,652,0.401388412177,-0.00544925648704,0.0598826328808,0.999999940762,-9.03858763066e-05,-0.00032931685311,-4.30864015372e-05,1793244711870149888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652.402009573,631,652,0.401536462942,-0.00545202074642,0.0598893844814,0.999999945429,-9.3782706533e-05,-0.000313667942545,-4.42536096435e-05,1793244711886816256
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.820215599,786.179784401,805,652,631,652,0.401689016877,-0.00545463191761,0.059894115273,0.999999948894,-9.67737052465e-05,-0.00030126240112,-4.5693857059e-05,1793244711903482624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.230303472,786.769696528,805,652,631,652,0.401851843513,-0.00545689386057,0.0598942361545,0.999999950091,-9.88389126752e-05,-0.000296255699739,-4.77569670024e-05,1793244711920149248
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.50759964,786.50759964,805,652,631,651.50759964,0.402480482359,-0.00546480949054,0.0598926630859,0.99999995342,-0.00010643159116,-0.000280862206219,-5.42990679688e-05,1793244711970149632
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+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658.762114375,634.237885625,879,786,805.762114375,652.237885625,631,652,0.403294206283,-0.00547579128913,0.0598957023651,0.999999955384,-0.000129513024935,-0.000261884382228,-6.22452222692e-05,1793244712020149248
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.17064143,634.82935857,879,786,805.17064143,652.82935857,631,652,0.403594957114,-0.00547974627225,0.0598905457074,0.999999951635,-0.000141122910015,-0.000269275199258,-6.56142673413e-05,1793244712036816128
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,713.587554139,680,658,634.587554139,879.412445861,786,805,652.587554139,631,652,0.403931592714,-0.00548093835591,0.0598814287199,0.999999943333,-0.000171654171011,-0.00028111397358,-6.95992677487e-05,1793244712053482752
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,713.007867129,680,658,634.007867129,879.992132871,786,805,652.007867129,631,652,0.40428277909,-0.00548101012157,0.059870705873,0.999999931813,-0.000209857790286,-0.000294756333099,-7.38340294311e-05,1793244712070149632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.434868062,744.434868062,713.565131938,680,658.565131938,634,879.434868062,786.565131938,805.565131938,652.565131938,631,652.565131938,0.404646632441,-0.00547101724749,0.0598540188348,0.999999923121,-0.000203479977415,-0.000325807500018,-7.87668557927e-05,1793244712086816256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.142183439,744.142183439,714,680,658.857816561,634,878.857816561,787,805.857816561,653,631,652.857816561,0.405028556994,-0.00546294875963,0.0598424873333,0.999999916701,-0.000197438248036,-0.000347396756727,-8.32550641892e-05,1793244712103482624
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.732291191,744.732291191,714,680,658.267708809,634,878.267708809,787,805.267708809,653,631,652.267708809,0.405466862657,-0.00546137894475,0.0598474559631,0.999999920117,-0.000194387558405,-0.00033842335898,-8.63123241386e-05,1793244712120149248
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.683768723,745,714,680,658,634.316231277,878.316231277,786.683768723,805,653,631,652,0.405952675835,-0.0054648606048,0.0598659907201,0.999999930253,-0.000197071265446,-0.000304918940768,-8.76460233689e-05,1793244712136815872
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.104949987,745,714,680,658,634.895050013,878.895050013,786.104949987,805,653,631,652,0.40647793765,-0.00547253683382,0.0598957903179,0.999999943742,-0.000204516615336,-0.000251044814384,-8.75485378443e-05,1793244712153482496
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.472026185,745,714,680,658.472026185,634.527973815,879,786.472026185,805,652.527973815,631,652,0.407040881756,-0.00547796606245,0.0599234082349,0.999999952747,-0.000210362829092,-0.000206979583675,-8.61020516396e-05,1793244712170149120
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.048402618,879,787,805,652,631,652,0.407609407597,-0.00548251666186,0.05994773671,0.999999958714,-0.00021523380452,-0.000170636802707,-8.44378691214e-05,1793244712186816000
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.622697108,879,787,805,652,631,652,0.408147903741,-0.00548292798899,0.0599415753996,0.999999954807,-0.000213356894299,-0.000194594737095,-8.36545439923e-05,1793244712203482624
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658.797162727,635,879,787,805,652,631,652,0.408698090442,-0.00548265963431,0.0599322891688,0.999999950582,-0.000208562725563,-0.000219984335625,-8.33370308621e-05,1793244712220149248
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.205826231,635,879,787,805,652,631,652,0.409270668323,-0.00548108946832,0.0599170177016,0.999999946061,-0.00019818105993,-0.000248116034362,-8.3911698998e-05,1793244712236816128
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634.623850574,879,787,805,652,631,651.623850574,0.409904232144,-0.00547977060351,0.0599143338984,0.999999948175,-0.000188156432087,-0.00024726441396,-8.43022506097e-05,1793244712253482752
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634.046872743,879,787,805,652,631,651.046872743,0.410570356702,-0.00547858590992,0.0599183707241,0.999999953856,-0.000178322429172,-0.000230938427116,-8.45945013035e-05,1793244712270149120
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.47267214,745,714,680.52732786,658.52732786,634.52732786,879,787,804.47267214,652,631,651.52732786,0.411286570722,-0.00547944394351,0.0599261626462,0.999999959232,-0.000172490546584,-0.000210919347154,-8.54169690952e-05,1793244712286816000
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.898233879,659,634.898233879,879,786.898233879,804.101766121,652,631,652,0.411999798506,-0.00548100974969,0.0599286672323,0.999999961017,-0.000172604594543,-0.00020190757399,-8.60650058104e-05,1793244712303482624
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.321540661,659,634.321540661,879,786.321540661,804.678459339,652,631,652,0.41267842033,-0.00548503569127,0.0599049470769,0.999999946359,-0.000198815927043,-0.000245789199495,-8.56802045873e-05,1793244712320149248
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.262572781,804.737427219,652,631,652,0.413367586864,-0.00548679969024,0.0598805085929,0.999999932532,-0.000205730430915,-0.000291834515206,-8.62803340193e-05,1793244712336816128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.856037192,804.143962808,652,631,652,0.414070041832,-0.00548571321196,0.0598551648749,0.999999920377,-0.000188327265166,-0.000340606498053,-8.81216633586e-05,1793244712353482496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.437465437,659,634,879,786.562534563,804.874930873,652,631,652,0.414897926862,-0.00548564691486,0.059884214848,0.999999940133,-0.000178548016943,-0.00028326378487,-8.72693751511e-05,1793244712370149120
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.985082395,659,634,879.014917605,786.014917605,806,652,631,652,0.415765607259,-0.00548604471993,0.0599302136047,0.999999963031,-0.000171257321037,-0.00019312063118,-8.55128982814e-05,1793244712386816000
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.41216349,659,634,879.58783651,786.58783651,806,652,631,652,0.416619211042,-0.00549158080102,0.0599585571876,0.99999997204,-0.000165718149172,-0.000147307876944,-8.22041759643e-05,1793244712403482624
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.165844284,880,787,806,652,631,652,0.417460567348,-0.00549595240867,0.0599740849491,0.999999976007,-0.000163737324904,-0.00012138445614,-8.02661114919e-05,1793244712420149248
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.756899458,880,787,806,652,631,652,0.418270522098,-0.00549733840335,0.0599567540134,0.999999971326,-0.000170879807637,-0.000146455628016,-8.18422997744e-05,1793244712436815872
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.340418339,659,635,879.659581661,787,805.659581661,652,631,652,0.419094412786,-0.00549770334754,0.0599360859461,0.999999966255,-0.000168421879059,-0.000179491368496,-8.31127803027e-05,1793244712453482496
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.91867192,659,635,879.08132808,787,805.08132808,652,631,652,0.419928039863,-0.00549735492883,0.0599130863732,0.999999959994,-0.000159256567118,-0.000218091599695,-8.41696761973e-05,1793244712470149376
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.496376433,745,714,681,659.496376433,635,879.496376433,787,805.496376433,652,631,652,0.420762758904,-0.00549724743887,0.0598849452128,0.999999950314,-0.00015448633876,-0.000261241963337,-8.52016296788e-05,1793244712486815744
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.926315473,880,787,806,652,631,652,0.421606525514,-0.00549745237109,0.0598587697119,0.999999939527,-0.000151628323216,-0.000300896307227,-8.61228665177e-05,1793244712503482624
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.351094243,880,787,806,652,631,652,0.422510657947,-0.00549951542875,0.0598517011678,0.999999935393,-0.000156889849213,-0.000311686097184,-8.63182916951e-05,1793244712520149248
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,879.770333252,786.770333252,806,652,631,652,0.42344050889,-0.00550292197045,0.0598743449153,0.999999946143,-0.000161333811847,-0.000272875350052,-8.49984752885e-05,1793244712536815872
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,879.180894152,786.180894152,806,652,631,652,0.42441064795,-0.00550843307668,0.0599435328879,0.99999997094,-0.00016449706296,-0.000156365491573,-8.13050361805e-05,1793244712553482496
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.598406573,745,714.401593427,681,659.598406573,634.401593427,879.803186855,786.401593427,806,652,631,652,0.425347912404,-0.00551184893746,0.0599802990496,0.999999979971,-0.00015809464236,-9.42991983386e-05,-7.85567155752e-05,1793244712570149120
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.018996998,745,714.981003002,681,659.018996998,634.981003002,880.962006004,786.981003002,806,652,631,652,0.426270620694,-0.00551433707238,0.0600027095901,0.999999984636,-0.000147456767018,-5.6339245684e-05,-7.62268716996e-05,1793244712586816000
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.442841657,681,659.557158343,634.442841657,880.442841657,787,806,652,631,652,0.427190763739,-0.00551520707258,0.0599870221239,0.999999983051,-0.000153585596545,-6.43701579149e-05,-7.85207121538e-05,1793244712603482624
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.132778088,745,714,681,660,634,880,787,806,652,631,652,0.428102079045,-0.00551608375458,0.0599682407375,0.999999981042,-0.0001580814469,-8.01604881957e-05,-8.06286954368e-05,1793244712620149504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.706983922,745,714,681,660,634,880,787,806,652,631,652,0.428984335113,-0.00551716500866,0.0599434669624,0.999999977825,-0.000155258823032,-0.000116564403679,-8.15977136743e-05,1793244712636816128
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.291463777,880,787,806,652,631,652,0.429842647671,-0.00551657016635,0.0599159887553,0.999999971783,-0.000150544215165,-0.00016436733794,-8.21860681897e-05,1793244712653482496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.88664972,880,787,806,652,631,652,0.430676009647,-0.00551422873429,0.0598856923745,0.99999996116,-0.000143858050126,-0.000224048708606,-8.23777488244e-05,1793244712670149120
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+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681.385391716,659.614608284,634,880,786.614608284,807,652,631,652,0.43345141448,-0.00552818240922,0.059980020318,0.99999998477,-0.000148844404148,-4.79423088549e-05,-7.7501654158e-05,1793244712720148992
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.805694835,745,713.805694835,681,660,634,880,787,806.805694835,652,631,652,0.434321622695,-0.00553072532183,0.0599828041136,0.999999985599,-0.000144173433546,-4.72591226291e-05,-7.60416646097e-05,1793244712736815872
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765.476858218,745,714,681.476858218,660,634,880,787,806.476858218,652,631,652,0.437554418964,-0.00553213258555,0.0598969922005,0.999999965853,-0.000145979178755,-0.000201886670459,-7.89063496872e-05,1793244712803482368
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+257,4.283333333,HOLD_POSE2,765,745.583109184,714,682.583109184,655,629.583109184,880,783.416890816,807,652,629.416890816,652,0.452282598185,-0.00557421032692,0.0596045424736,0.999999801218,-0.000133964825445,-0.000612069361156,-7.06250634178e-05,1793244714069210880
+258,4.300000000,HOLD_POSE2,765,745.843612512,714,682.843612512,655,629.843612512,880,783.156387488,807,652,629.156387488,652,0.45228300972,-0.00557428221534,0.0596047400193,0.999999801218,-0.000134394129216,-0.000612014318091,-7.02917309773e-05,1793244714085877248
+259,4.316666667,HOLD_POSE2,765,745.24728389,714,682.24728389,655,629.24728389,880,783.75271611,807,652,629.75271611,652,0.45228217693,-0.00557597842748,0.0596042264733,0.999999800997,-0.000135407986922,-0.000612206754846,-6.98064093681e-05,1793244714102543872
+260,4.333333333,HOLD_POSE2,765,745,714,682.337894764,655,629,880,784,806.662105236,652,630,652,0.452282526753,-0.00557577192147,0.059604172867,0.999999801151,-0.000134335092269,-0.000612220786133,-6.95541474316e-05,1793244714119210496
+261,4.350000000,HOLD_POSE2,765,745,714,682.915174088,655,629,880,784,806.084825912,652,630,652,0.452283714408,-0.0055742174177,0.0596044451092,0.999999801565,-0.000131783819228,-0.000612108424459,-6.94669987282e-05,1793244714135877376
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629,880,784,807,652,630,652,0.452286483055,-0.00557465160489,0.0596067122452,0.999999804049,-0.000134065784965,-0.00060751487531,-6.9666112374e-05,1793244714167488256
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629.593870297,880,784,806.406129703,652,630,652,0.452284321071,-0.00557390496512,0.0596052835913,0.999999801955,-0.00013443918571,-0.000610842678515,-6.99026706588e-05,1793244714184154880
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.81690699,655,629.81690699,880,784,806.18309301,652,630,652,0.45228300975,-0.00557376763389,0.0596042869078,0.999999800638,-0.000134514663088,-0.000612964959185,-7.00290630736e-05,1793244714200821504
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.23773805,655,629.23773805,880,784,806.76226195,652,630,652,0.452283538624,-0.00557494838915,0.0596042246843,0.99999980102,-0.000133945657849,-0.000612479394016,-6.99171392294e-05,1793244714217488384
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,879.659840861,784,807,652,630,652,0.452284067568,-0.00557455620617,0.0596045199188,0.99999980143,-0.000133030185068,-0.000611993901318,-7.00387107576e-05,1793244714234154752
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,879.082829227,784,807,652,630,652,0.452284596559,-0.00557306878767,0.0596050640512,0.999999801861,-0.00013187346729,-0.000611508459111,-7.0322864905e-05,1793244714250821120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.501131076,655,629,879.501131076,784,807,652,630,652,0.452285229699,-0.00557371803505,0.0596051154835,0.999999802067,-0.000132042714483,-0.000611172546389,-6.99899253368e-05,1793244714267487744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.914603335,683,655,629,880,784,807,652,630,652,0.452285428089,-0.00557456429199,0.0596049165243,0.999999802125,-0.000132539464553,-0.000611014573086,-6.9603208485e-05,1793244714284154368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.335307989,683,655,629,880,784,807,652,630,652,0.4522830111,-0.00557447873257,0.0596037470184,0.999999801541,-0.000133644992987,-0.000611740776522,-6.950366351e-05,1793244714300820992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.243490206,713.243490206,682.756509794,655,629,880,784,807,652,630,652,0.452276278525,-0.00557421731567,0.0596001616842,0.999999798704,-0.00013410558969,-0.000616239977237,-6.96890255867e-05,1793244714317487616
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.821605128,713.821605128,682.178394872,655,629,880,784,807,652,630,652,0.452263615107,-0.00557371422064,0.0595932563154,0.999999792706,-0.00013367986688,-0.000625924347952,-7.02659308931e-05,1793244714334154240
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.603571027,714,682.396428973,655,629.396428973,880,783.603571027,806.603571027,652,630,652,0.452237025531,-0.00557290988836,0.0595828467625,0.999999782403,-0.00013326026653,-0.000642196505767,-7.08504528038e-05,1793244714350821376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.030215939,714,682.969784061,655,629.969784061,880,783.030215939,806.030215939,652,630,652,0.452204220714,-0.00557197111395,0.0595708732927,0.999999769894,-0.000132843398558,-0.000661408791391,-7.14383740323e-05,1793244714367488512
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.44095796,655,629.44095796,880,783.55904204,807.11808408,652,630,652,0.45215140479,-0.00556963200628,0.0595548706992,0.999999757078,-0.000132181448791,-0.000680511645792,-7.26305704407e-05,1793244714384154880
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.146168727,655,629,880,784,807.707662545,652,630,652,0.452092310912,-0.00556741576863,0.0595394626414,0.999999744131,-0.000130919151981,-0.000699421352304,-7.3538330127e-05,1793244714400821504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.724380902,655,629,880,784,806.551238196,652,630,652,0.452017951289,-0.00556579297358,0.0595264744344,0.999999731514,-0.000127922658209,-0.000717778154491,-7.35059913023e-05,1793244714417488128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.696936933,682.393873866,655,629,879.696936933,783.696936933,806,652,630,652,0.451936338734,-0.00556321185098,0.0595186785419,0.999999724005,-0.000125302951222,-0.00072863757319,-7.33199610138e-05,1793244714434154752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.117826709,681.235653418,655,629,879.117826709,783.117826709,806,652,630,652,0.451848119797,-0.00555975782901,0.059515612107,0.999999721367,-0.000123026443377,-0.000732667945698,-7.29939397766e-05,1793244714450821376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.458208277,681.916416554,655,629.458208277,879.916416554,783.458208277,806.458208277,652,630,652,0.451745470996,-0.00555669313657,0.0595176719725,0.999999722083,-0.000121626735551,-0.000731978486971,-7.24433493421e-05,1793244714467487744
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,630,880.965834313,784,807,652,629.965834313,652,0.451637620461,-0.00555366177106,0.0595210139917,0.999999723666,-0.000120308190935,-0.000730097295523,-7.17786128836e-05,1793244714484154880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,630,880.378412911,784,807,652,629.378412911,652,0.451505222791,-0.00554955969647,0.0595239144347,0.999999725417,-0.000116677243464,-0.000728440617973,-7.01943584223e-05,1793244714500821504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629.79379316,880,784,807,652,629.20620684,652,0.451356558456,-0.0055449756342,0.0595243269289,0.999999724696,-0.000112204736868,-0.000730252412617,-6.891755515e-05,1793244714517488128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629.214245902,880,784,807,652,629.785754098,652,0.451178443107,-0.00553951892683,0.0595202349562,0.999999719459,-0.000106208575888,-0.00073834392569,-6.8197396801e-05,1793244714534154752
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629,880.363464553,784,806.636535447,652,630,652,0.450983471629,-0.00553494329177,0.0595152870144,0.999999712389,-0.000103234794607,-0.000748390910414,-6.6894722156e-05,1793244714550821120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,629,880.940097795,784,806.059902205,652,630,652,0.450778614168,-0.00553088439717,0.0595098370542,0.999999704181,-0.000102033611234,-0.00075958476238,-6.52504068749e-05,1793244714567487744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.516057027,714,683,655,629.516057027,880.483942973,784,806.516057027,652,630,652,0.450546332118,-0.00552347140244,0.059507417815,0.999999701725,-9.56571101304e-05,-0.000763744340932,-6.3985140898e-05,1793244714584154624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.905972998,713.905972998,682.905972998,655,630,880,784,807,652,630,652,0.450305917418,-0.00551516139837,0.0595057746035,0.999999700473,-8.7951050112e-05,-0.000766408274063,-6.27491688176e-05,1793244714600821504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.317007396,713.317007396,682.317007396,655,630,880,784,807,652,630,652,0.450039428713,-0.00550417641512,0.0595063668728,0.999999702205,-7.64044793884e-05,-0.000765491802917,-6.14360948316e-05,1793244714617487872
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.267244182,713.267244182,682.267244182,655.267244182,630,880,784,806.732755818,652,630,652,0.449745849987,-0.00549410327757,0.0595048994266,0.999999702431,-6.64027996224e-05,-0.000766276343773,-5.95794281385e-05,1793244714634154752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.846000835,713.846000835,682.846000835,655.846000835,630,880,784,806.153999165,652,630,652,0.449420693865,-0.00548509303121,0.0595010310786,0.999999700963,-5.82019185894e-05,-0.000769043664844,-5.7089124135e-05,1793244714650821376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.422330149,745.577669851,714,683,655.577669851,630.422330149,880,784,806,652,630,652,0.449080063272,-0.00547744963832,0.0595031715929,0.999999704835,-5.1805028642e-05,-0.000764627899249,-5.46771201126e-05,1793244714667488256
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.997779399,745.002220601,714,683,655.002220601,630.997779399,880,784,806,652,630,652,0.448733822295,-0.00547030180907,0.0595074906672,0.999999710587,-4.60621899585e-05,-0.000757607849253,-5.22935044124e-05,1793244714684154624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.414756331,745,714,683,655.585243669,631,880,784,806.585243669,652,630,652,0.448360757507,-0.00546109416886,0.0595151960373,0.999999718455,-3.55889503092e-05,-0.000747935712257,-4.91396631005e-05,1793244714700820992
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.171342311,631,880,784.171342311,806.828657689,652,630,652,0.447977017598,-0.00545226718584,0.059528157412,0.999999733809,-2.54177413834e-05,-0.000727768674839,-4.56934043516e-05,1793244714717487872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.754050465,631,880,784.754050465,806.245949535,652,630,652,0.447567897936,-0.00544437325922,0.0595537061286,0.999999766153,-1.60156571343e-05,-0.000682429704463,-4.15522613868e-05,1793244714734154496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.331405228,714,682.668594772,657,631,880,785,806,652,630.331405228,652,0.447125130767,-0.00543778426386,0.0595793528675,0.999999791417,-7.59699996843e-06,-0.00064477847807,-3.69935664495e-05,1793244714750821120
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.904850233,714,682.095149767,657,631,880,785,806,652,630.904850233,652,0.446657789305,-0.00543214831623,0.0596050711989,0.999999811757,1.03418220984e-07,-0.000612741943867,-3.21299145695e-05,1793244714767487744
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.518952153,714,682,657,631.481047847,880,785,806,652,631,652,0.446141032124,-0.00543824912088,0.0596100895263,0.999999812095,-7.89619107052e-06,-0.000612296800302,-2.90039148769e-05,1793244714784154368
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631.349558164,880,785.650441836,806.650441836,652,631,652,0.445032890163,-0.00545629793825,0.0595897969146,0.999999790197,-3.08723591721e-05,-0.000646681945483,-2.13291324782e-05,1793244714817487872
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.611781179,745.388218821,714,682,657.388218821,632,880.388218821,785.388218821,806.611781179,652,631,652,0.443293406203,-0.00543469449598,0.0596444992142,0.999999851649,4.76910791939e-06,-0.0005446193297,-8.3336729798e-06,1793244714867488000
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.539303,745.460697,714,682,658.539303,632.539303,880.460697,786,806,652,631,652,0.442019708367,-0.00542776163313,0.059707008786,0.999999889638,0.000120491632113,-0.000454079490362,4.1622731502e-06,1793244714900820992
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,880.073750504,786,806,652,631,652,0.433427906121,-0.00542602303659,0.0597665189566,0.999999935111,0.000128805147225,-0.000335966131986,1.77130505553e-05,1793244715084154880
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.498047418,659,633.498047418,880,786,806,652,631,652,0.432533403574,-0.00542178727285,0.0597805679992,0.999999935923,0.000145682352647,-0.000326231311882,2.24234287977e-05,1793244715100821504
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.079439466,745,713.920560534,681,659,633.079439466,879.920560534,786,805.920560534,652,631,652,0.431641495529,-0.00541678573374,0.0597957522215,0.999999937347,0.000161222979973,-0.000314012781861,2.66252594554e-05,1793244715117488384
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.668635973,745,713.331364027,681,659,633.668635973,879.331364027,786,805.331364027,652,631,652,0.43081077304,-0.00541534723966,0.0598226211721,0.999999952301,0.000161268849846,-0.000261842565168,2.87923313903e-05,1793244715134154752
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.745536655,745,713.254463345,681,659,634,879,786,805.254463345,652,631,651.745536655,0.429927196465,-0.00541302750042,0.0598290980136,0.99999995344,0.000165848849227,-0.000254429115175,2.96748731727e-05,1793244715150821120
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.164039188,745,713.835960812,681,659,634,879,786,805.835960812,652,631,651.164039188,0.428975692156,-0.00540957519223,0.0598093670939,0.999999937678,0.000176256073359,-0.00030453667349,2.89065480679e-05,1793244715167487744
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.412288354,745,714,681,659,634,879.412288354,786,806,652,631,651.412288354,0.428039742935,-0.0054075344596,0.0597754165026,0.999999921156,0.000177131949374,-0.000354436228292,2.62076075145e-05,1793244715184154368
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.986584353,745,714,681,659,634,879.986584353,786,806,652,631,651.986584353,0.427109906103,-0.00540604840216,0.0597358783294,0.999999902847,0.000174262505871,-0.000404254045101,2.27500366141e-05,1793244715200820992
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,786.573182674,806,652,631,652,0.426232632356,-0.00540786184584,0.0597622925059,0.999999920828,0.000167711329822,-0.000359994565393,2.49192941936e-05,1793244715217488128
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,786.841034149,805.841034149,652,630.841034149,652,0.425348815837,-0.00540793801384,0.0597907314441,0.999999934675,0.000167667212417,-0.000319042050072,2.74012447945e-05,1793244715234155264
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,634,880,786.258209065,805.258209065,652,630.258209065,652,0.424444201742,-0.00540317155985,0.0598203629167,0.999999939491,0.000185208025175,-0.000292906976908,3.0358087457e-05,1793244715250821632
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.680131183,745,714,681,658.680131183,634,879.680131183,786.319868817,805.319868817,652,630.319868817,652,0.423562134792,-0.00540039316299,0.0598376521112,0.999999944946,0.000190959626424,-0.000269551601587,3.13811021174e-05,1793244715267488000
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.105829392,745,714,681,658.105829392,634,879.105829392,786.894170608,805.894170608,652,630.894170608,652,0.422698002539,-0.00539919612493,0.0598451238966,0.999999951124,0.000187333744602,-0.000248407280221,3.08658935142e-05,1793244715284154624
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.469523038,745,714,681,658.469523038,634,879.469523038,787,806,652,630.530476962,652,0.42179421349,-0.00539512900644,0.0598360394901,0.99999994654,0.000191928337007,-0.000263010399852,3.01487378916e-05,1793244715300821248
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.953601781,745,714,680.953601781,658.953601781,634,879.953601781,787,805.953601781,652,630.046398219,652,0.420878488282,-0.00539054201608,0.0598193912952,0.999999937133,0.000198163895827,-0.000292592899944,2.9232617426e-05,1793244715317487872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.361612111,745,714,680.361612111,658.361612111,634,879.361612111,787,805.361612111,652,630.638387889,652,0.419927751019,-0.00538746590978,0.0597577807397,0.999999897926,0.000201858769101,-0.00040335781018,2.65133382898e-05,1793244715334154496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.775591007,680.224408993,658,634,879,787,805,652,631,652,0.419027581872,-0.00538607154555,0.0597239341128,0.999999875823,0.000200895646735,-0.000455405961999,2.44823355786e-05,1793244715350821376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,713.198938373,680.801061627,658,634,879,787,805,652,631,652,0.418206786835,-0.00538731692779,0.0597336671348,0.999999894939,0.00019262110362,-0.000415289359713,2.353168612e-05,1793244715367487744
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.376253142,681,658,634,879,786.623746858,805.376253142,652,630.623746858,652,0.417415478352,-0.005387077649,0.0597670379214,0.999999914952,0.000197204753941,-0.000361330615591,2.54279704012e-05,1793244715384154624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.950675065,681,658,634,879,786.049324935,805.950675065,652,630.049324935,652,0.416639700193,-0.00538605641395,0.0598128584825,0.999999932811,0.000208560686643,-0.000300081354709,2.88237063151e-05,1793244715400821504
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.5220528,745,714,680.4779472,658,634,879,786,806,652,630,652,0.415849148419,-0.00538756254503,0.0598267762977,0.99999993413,0.000211083177789,-0.000293667065242,3.07326769422e-05,1793244715417488128
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.0975519,714,680,658,634.0975519,879,786.0975519,805.9024481,652,630.0975519,652,0.415061305335,-0.00538879976286,0.0598369061609,0.999999935053,0.000212019035968,-0.000289666193352,3.2189700433e-05,1793244715434154752
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.695666003,714,680,658,634.695666003,879,786.695666003,805.304333997,652,630.695666003,652,0.414294482127,-0.0053874389254,0.0598429763374,0.999999940743,0.000209071240547,-0.000271618551118,3.20442992622e-05,1793244715450821376
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.716846262,745.433692524,714,680,658,634.716846262,879,787,805,652,631,652,0.413520066088,-0.00538553884157,0.0598350967117,0.999999936771,0.00021222473074,-0.00028353764392,3.20247530408e-05,1793244715467487744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.140366677,744.280733354,714,680,658,634.140366677,879,787,805,652,631,652,0.412737784498,-0.00538308013938,0.0598127661463,0.999999921607,0.000221698691094,-0.000326500007495,3.21355829949e-05,1793244715484154368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.433292177,744.433292177,714,680,658,634,879,786.566707823,805.866584353,652,631,652,0.411988247091,-0.00538075248267,0.0597731182147,0.999999899125,0.000224610126613,-0.000387848368404,2.95677538454e-05,1793244715500821248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.993771409,745,714,680,658,634,879,786.006228591,806.987542818,652,630.993771409,652,0.411250324121,-0.00537847483157,0.0597286473128,0.999999871241,0.000225384572802,-0.000453909990792,2.6177504626e-05,1793244715517488128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.403449649,745,714,680,658,634,879,786.596550351,805.806899298,652,630.403449649,652,0.410613257333,-0.00537693123077,0.0597545812846,0.999999891763,0.000223834896022,-0.000407024520371,2.65129525317e-05,1793244715534154752
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.815915425,680,658,634,879,787,805.184084575,652,630.184084575,652,0.40999016797,-0.0053765260379,0.059785720516,0.999999912007,0.000220717561341,-0.00035566264804,2.78062496663e-05,1793244715550821376
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.234399271,680,658,634,879,787,805.765600729,652,630.765600729,652,0.409397255213,-0.00537857862406,0.0598280977094,0.999999933165,0.00021421571308,-0.000294636386489,3.11675068613e-05,1793244715567488000
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.343165915,680,658,634,879,786.656834085,805.656834085,652,631,652,0.408810709338,-0.00537964079949,0.0598479847517,0.99999994181,0.000212628221363,-0.000264788726315,3.24917791059e-05,1793244715584154624
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.918063078,680,658,634,879,786.081936922,805.081936922,652,631,652,0.408228462892,-0.00538003417552,0.0598526847624,0.999999943732,0.000214359270863,-0.000255995189841,3.24405268768e-05,1793244715600821248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.48844048,745,714,680,658,634,879,786,805,652,631,652,0.407673495412,-0.00537864115786,0.0598395499337,0.999999934557,0.000235085992292,-0.000273182290465,3.14944568202e-05,1793244715617487872
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.938936382,745,713.938936382,680,658,634,879,786,805.061063618,652,631,651.938936382,0.407126957598,-0.0053768586578,0.0598248238817,0.9999999242,0.000255373873229,-0.000292333316244,3.04181722478e-05,1793244715634154496
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.339910198,745,713.339910198,680,658,634,879,786,805.660089802,652,631,651.339910198,0.406614738783,-0.00537426072793,0.059822195348,0.999999927536,0.000243979803861,-0.000290742191745,2.95050183933e-05,1793244715650821120
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.24919516,680,658,634,879,786.24919516,805.75080484,652,631,651,0.406129827445,-0.00537127527588,0.0598239227348,0.999999930892,0.000237221995637,-0.000284764636743,2.91611165449e-05,1793244715667487744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.825286263,680,658,634,879,786.825286263,805.174713737,652,631,651,0.405680738283,-0.00536778146974,0.0598313642485,0.999999934312,0.00023654606788,-0.000273032931888,2.95639635039e-05,1793244715684154624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.400761268,745,714,680,658,634,879,786.599238732,805,652,631,651.400761268,0.405244218213,-0.00536551237314,0.0598248325443,0.999999931989,0.00023752785195,-0.000280682742882,2.86304229574e-05,1793244715700821248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.975968145,745,714,680,658,634,879,786.024031855,805,652,631,651.975968145,0.40481316925,-0.00536377637468,0.0598122185002,0.999999926981,0.000239231214004,-0.000296769047571,2.7115172203e-05,1793244715717487872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.438275127,745,714,680,658,634,879,786,805.561724873,652,631,652,0.404411833239,-0.00536012783525,0.0597869873764,0.999999910992,0.000246443253656,-0.000341534009688,2.5234614516e-05,1793244715734154496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.147030564,805.852969436,652,631,652,0.40402639322,-0.00535707162974,0.0597667264461,0.999999897056,0.000252373879653,-0.000376349904568,2.35996068331e-05,1793244715750821120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.729637503,805.270362497,652,631,652,0.403684206843,-0.00535601724463,0.0597628193725,0.999999896098,0.000253796791293,-0.000377987452924,2.27392238464e-05,1793244715767487744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.308182638,745,714,680,658,634,879,786.691817362,805,652,631,652,0.403389492897,-0.00536042580794,0.0597737445549,0.999999905242,0.00024914263872,-0.000356238914563,2.3198498852e-05,1793244715784154368
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.541841245,745,713.541841245,679.541841245,658,634,879,786,805,652.458158755,631,652,0.402904385926,-0.00537503651287,0.0598194360961,0.999999934137,0.000230799421422,-0.000278862003298,2.63243511803e-05,1793244715817487872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.034009733,679,658,634,879,786,805,652.965990267,631,652,0.402678692418,-0.00537923496669,0.0598395267461,0.999999944071,0.000223118884447,-0.000247598084694,2.77582762775e-05,1793244715834154752
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.624982794,679,658,634,879,786,805,652.375017206,631,652,0.40245576691,-0.00537788251861,0.0598372983107,0.999999942293,0.00022145032132,-0.000256101656902,2.80438117837e-05,1793244715850821376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.21170258,745,714,679.21170258,658,634,879,786.21170258,805.21170258,652.21170258,631,652,0.402239945431,-0.00537546002703,0.059832595412,0.999999939125,0.000220931721063,-0.000268644657278,2.77386011156e-05,1793244715867488000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.791036301,745,714,679.791036301,658,634,879,786.791036301,805.791036301,652.791036301,631,652,0.40203646044,-0.0053711793565,0.0598235954957,0.999999933388,0.000222410083668,-0.000288202307097,2.64075328666e-05,1793244715884154624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.267204888,745,713.633602444,679.633602444,658.366397556,634,879,787,805.633602444,652.633602444,631,652,0.401869584513,-0.00537128166413,0.059820943043,0.99999993169,0.000221400856013,-0.000294816467477,2.61769436558e-05,1793244715900821248
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f72d432283cbecf9372034cd00b7ac05c526af8f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd57fe3ddaafee1d8418fecf414196f4dc9b6a33
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25553068
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..349fa4a3912dea40f896c5172b403fc58cae127d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,713,679,658,634,878,786,806,652,630,652,0.400964516722,-0.00537482909995,0.0598418540319,0.999999930654,0.00025817036096,-0.000267267195589,2.46464390853e-05,1793244716665547264
+1,0.016666667,BASELINE,765.421853173,745,713.578146827,679.578146827,658,634.578146827,878.578146827,786,806,652,630,652,0.400965575303,-0.00537507161543,0.0598429795081,0.999999931157,0.000257561054736,-0.000265981638127,2.45197438235e-05,1793244716682213632
+2,0.033333333,BASELINE,765,745,714,680,658,634.843805116,878.843805116,786,805.843805116,652,630,651.843805116,0.400966137235,-0.00537572447533,0.0598437381823,0.999999931674,0.000256305794595,-0.000265251477102,2.44972856999e-05,1793244716698880256
+3,0.050000000,BASELINE,765,745,714,680,658,634.266023524,878.266023524,786,805.266023524,652,630,651.266023524,0.400965358655,-0.0053774848988,0.0598435068192,0.999999932228,0.000253307035565,-0.000266020390216,2.47561747392e-05,1793244716715547392
+4,0.066666667,BASELINE,765,744.689948721,714,680,658,634,878.310051279,786,805,652,630,651.310051279,0.400966395576,-0.00537725241945,0.0598443576047,0.999999932445,0.000253652645818,-0.000264859793289,2.49081340688e-05,1793244716732214016
+5,0.083333333,BASELINE,765,744.115330358,714,680,658,634,878.884669642,786,805,652,630,651.884669642,0.400968981665,-0.00537531939388,0.0598461317889,0.999999932366,0.000256852010098,-0.000262052743351,2.49688501481e-05,1793244716748880640
+6,0.100000000,BASELINE,765,744.471332311,713.528667689,679.528667689,658,634,878.528667689,786,805,652,630.471332311,652,0.40096677696,-0.0053751217796,0.059844740394,0.999999931554,0.000257578645759,-0.000264432250397,2.49185590136e-05,1793244716765547264
+7,0.116666667,BASELINE,765,744.939742106,713.060257894,679.060257894,658,634,878.060257894,786.060257894,805,652,631,652,0.400963910221,-0.00537530406133,0.0598428689207,0.99999993068,0.000257805341212,-0.000267508247508,2.48234283262e-05,1793244716782214144
+8,0.133333333,BASELINE,765,744.357413999,713.642586001,679.642586001,658,634,878.642586001,786.642586001,805,652,631,652,0.400965730376,-0.00537500222313,0.0598437250272,0.999999930935,0.000259080189053,-0.00026533485733,2.45813150674e-05,1793244716798880512
+9,0.150000000,BASELINE,765,744.221374753,714,680,658,634.221374753,879,787,805.221374753,652,630.778625247,652,0.400966305145,-0.00537480727289,0.0598439877869,0.999999930994,0.000259554923277,-0.000264661767276,2.44352764248e-05,1793244716815546880
+10,0.166666667,BASELINE,765,744.794539015,714,680,658,634.794539015,879,787,805.794539015,652,630.205460985,652,0.400964900854,-0.00537478217976,0.0598433076515,0.999999930746,0.000258758186388,-0.000266372823933,2.44419112319e-05,1793244716832213760
+11,0.183333333,BASELINE,765,745,714,679.632224033,658,634.632224033,879,787,805.632224033,652,630.367775967,652,0.400965846919,-0.00537531381709,0.0598442903987,0.99999993131,0.000257784601741,-0.000265169742246,2.47253048813e-05,1793244716848880640
+12,0.200000000,BASELINE,765,745,714,679.05894641,658,634.05894641,879,787,805.05894641,652,630.94105359,652,0.400968106289,-0.00537615653791,0.0598462023124,0.999999932322,0.000256712200044,-0.000262338331766,2.51633426772e-05,1793244716865547264
+13,0.216666667,BASELINE,765,745,714,679.534599421,658,634,879,786.465400579,805,652,630.465400579,652,0.400966097224,-0.00537609651269,0.0598445974781,0.999999931986,0.000256222333123,-0.000264122940702,2.48389773574e-05,1793244716882213888
+14,0.233333333,BASELINE,765,745,714,680,658,634,879,786,805,652,630.126012736,652,0.40096398859,-0.00537621664773,0.0598429018968,0.99999993156,0.000255666250572,-0.00026629115825,2.45516823045e-05,1793244716898880256
+15,0.250000000,BASELINE,765,745,714,680,658,634,879,786,805,652,630.701533044,652,0.400963269819,-0.005377348508,0.059842320339,0.999999931379,0.000254635811609,-0.000267940627225,2.47083118801e-05,1793244716915546880
+16,0.266666667,BASELINE,765.276544093,745,714,679.723455907,658,634,878.723455907,786,805,652,630.723455907,652,0.400963152147,-0.00537781487968,0.0598422339695,0.999999931477,0.00025393917553,-0.000268229442401,2.47640341685e-05,1793244716932213504
+17,0.283333333,BASELINE,765.851006486,745,714,679.148993514,658,634,878.148993514,786,805,652,630.148993514,652,0.400963682034,-0.00537756432679,0.0598426810615,0.999999931879,0.000253602142159,-0.000267052438188,2.47110499944e-05,1793244716948880384
+18,0.300000000,BASELINE,765.566337355,745,713.566337355,679.433662645,658,634,878.433662645,786,805,652,630,651.566337355,0.400965566659,-0.00537611266004,0.0598439839828,0.99999993158,0.000256642744359,-0.000265260153448,2.47234766958e-05,1793244716965546752
+19,0.316666667,BASELINE,765,745,713.019121699,680,658,634,879,786.019121699,805,652.019121699,630.019121699,651.019121699,0.4009677367,-0.00537433947552,0.0598454784239,0.999999931031,0.000260660073213,-0.000263405161318,2.47523601287e-05,1793244716982213632
+20,0.333333333,BASELINE,765,745,713.602619748,680,658,634,879,786.602619748,805,652.602619748,630.602619748,651.602619748,0.400964328525,-0.00537549111268,0.0598437799316,0.999999930868,0.000258595072509,-0.000266058745832,2.45908932148e-05,1793244716998880512
+21,0.350000000,BASELINE,765,745,714,680,658.184141726,634,879,787,805,652.815858274,630.815858274,651.815858274,0.400962603654,-0.00537590508853,0.0598428895816,0.999999930701,0.00025786752944,-0.000267394440669,2.45504380097e-05,1793244717015547136
+22,0.366666667,BASELINE,765,745,714,680,658.76144452,634,879,787,805,652.23855548,630.23855548,651.23855548,0.400964472804,-0.00537474408328,0.0598437246969,0.999999930539,0.000259995592937,-0.000265916308425,2.47683549707e-05,1793244717032214016
+23,0.383333333,BASELINE,765,744.663051452,714,680,658.663051452,634,879,786.663051452,805,652.336948548,630,651,0.40096618421,-0.00537482493442,0.0598445619369,0.99999993118,0.000259276219208,-0.000264186930131,2.4911904682e-05,1793244717048880640
+24,0.400000000,BASELINE,765,744.088814107,714,680,658.088814107,634,879,786.088814107,805,652.911185893,630,651,0.400967784528,-0.00537578033619,0.0598454006733,0.999999932382,0.000256551599025,-0.000262280617038,2.50030828728e-05,1793244717065547008
+25,0.416666667,BASELINE,765,744.499049166,714,680,658,634,879,786.499049166,805,652.500950834,630.499049166,651.499049166,0.400967127895,-0.00537684713127,0.0598451474013,0.999999932413,0.000256215857933,-0.00026250158635,2.4905288969e-05,1793244717082213632
+26,0.433333333,BASELINE,765,745,714,680,658,634,879,786.912217643,805,652,630.912217643,652,0.400966298171,-0.00537776162532,0.0598448466349,0.999999932315,0.000256152365062,-0.000262947710467,2.48051587356e-05,1793244717098880512
+27,0.450000000,BASELINE,765,745,714,680,658,634,879,786.332578736,805,652,630.332578736,652,0.400966812335,-0.00537770856012,0.0598453992357,0.999999932689,0.000255165327532,-0.000262474598336,2.48856647362e-05,1793244717115547136
+28,0.466666667,BASELINE,765.244329093,745,714,680,658,634,879,786,805,652,630,652,0.400966970715,-0.00537763804416,0.0598456260634,0.999999932865,0.000254654084893,-0.000262301195216,2.48769668253e-05,1793244717132213760
+29,0.483333333,BASELINE,765.817560465,745,714,680,658,634,879,786,805,652,630,652,0.400966650161,-0.00537754403694,0.0598454143535,0.999999932775,0.000254783331016,-0.000262531243775,2.47481875507e-05,1793244717148880384
+30,0.500000000,BASELINE,765.598508039,744.598508039,714,680,658,634,879.401491961,786,805,652,630,652,0.400965349153,-0.00537648166439,0.0598444147572,0.99999993227,0.000255363621658,-0.000263918421026,2.44295009101e-05,1793244717165547264
+31,0.516666667,BASELINE,765.00958125,744.00958125,714,680,658,634,879.99041875,786,805,652,630,652,0.400963590423,-0.00537496721457,0.0598430473395,0.999999931567,0.000256154480526,-0.000265845798917,2.40221568205e-05,1793244717182213888
+32,0.533333333,BASELINE,765.569710672,744.569710672,713.430289328,680,658,634,879.430289328,786,805,652,630.569710672,652,0.400965942868,-0.00537608160689,0.0598447729506,0.999999932069,0.000256644960233,-0.000263441675628,2.43663593479e-05,1793244717198880512
+33,0.550000000,BASELINE,765.853679435,745,713.146320565,680,658,634,879,786,805,652,631,652,0.400967593498,-0.00537720513885,0.0598460252353,0.999999932591,0.000256335816244,-0.000261733710126,2.46101725384e-05,1793244717215546880
+34,0.566666667,BASELINE,765.284362452,745,713.715637548,680,658,634,879,786,805,652,631,652,0.400967018706,-0.00537822940819,0.0598457613092,0.999999933124,0.000253729410367,-0.000262245347188,2.45278400984e-05,1793244717232213504
+35,0.583333333,BASELINE,765.291342927,745,714,680,658,634.291342927,879,786,805,652,631,652,0.400966605428,-0.00537841841748,0.0598454096128,0.999999933192,0.000253076550968,-0.000262611771406,2.45586715539e-05,1793244717248880128
+36,0.600000000,BASELINE,765.873423497,745,714,680,658,634.873423497,879,786,805,652,631,652,0.400966353328,-0.00537777390212,0.0598449703285,0.999999932801,0.000254373179125,-0.000262833284532,2.47024317904e-05,1793244717265546752
+37,0.616666667,BASELINE,765.539192291,744.539192291,713.539192291,680,658,634.539192291,879,786,805,652,631,652,0.400966579225,-0.00537695063975,0.0598454670164,0.999999932929,0.000254271318214,-0.000262451541996,2.46577160033e-05,1793244717282213888
+38,0.633333333,BASELINE,765,744.048929216,713.048929216,680,658,634,879,786,805,652,630.951070784,652,0.400966814194,-0.00537635896342,0.0598460584433,0.999999933182,0.000253686969577,-0.000262058798827,2.45718449478e-05,1793244717298880512
+39,0.650000000,BASELINE,765,744.62905547,713.62905547,680,658,634,879,786,805,652,630.37094453,652,0.400965705612,-0.00537882073226,0.0598448547474,0.999999933243,0.000252083500487,-0.000263366536389,2.46077708627e-05,1793244717315547392
+40,0.666666667,BASELINE,765.207515374,744.792484626,714,680,658,634.207515374,879,786,805,652.207515374,630.207515374,652,0.400965439225,-0.00538022179118,0.0598445223995,0.99999993333,0.000251488833042,-0.000263592959265,2.47485632389e-05,1793244717332214016
+41,0.683333333,BASELINE,765.783020286,744.216979714,714,680,658,634.783020286,879,786,805,652.783020286,630.783020286,652,0.400966666314,-0.00537974188015,0.0598457352237,0.999999933465,0.000252683085933,-0.000261901873571,2.50753165853e-05,1793244717348880384
+42,0.700000000,BASELINE,765.634231393,744.365768607,714,680,658,635,879,786,805.365768607,653,631,651.634231393,0.400966878805,-0.00537899539981,0.0598457309659,0.999999933397,0.00025313435712,-0.00026172312152,2.50913514646e-05,1793244717365547008
+43,0.716666667,BASELINE,765.047099377,744.952900623,714,680,658,635,879,786,805.952900623,653,631,651.047099377,0.400966477262,-0.00537808759155,0.059844990129,0.999999933208,0.000253135975234,-0.000262459634873,2.49193393052e-05,1793244717382213632
+44,0.733333333,BASELINE,765,744.46756956,714,680,658,634.46756956,879,786,805.46756956,652.46756956,630.46756956,651.53243044,0.400967924778,-0.00537780594591,0.059846147456,0.999999933771,0.000252747262201,-0.000260706789126,2.46771439242e-05,1793244717398880000
+45,0.750000000,BASELINE,765,744.110266528,713.889733472,679.889733472,658,634,878.889733472,786.110266528,805.110266528,652,630,652,0.400968598116,-0.00537753604418,0.0598468215058,0.999999933962,0.000252914003762,-0.00025982927177,2.44710906761e-05,1793244717415546880
+46,0.766666667,BASELINE,765,744.683772408,713.316227592,679.316227592,658,634,878.316227592,786.683772408,805.683772408,652,630,652,0.400965341569,-0.00537708605298,0.0598447697764,0.99999993232,0.000255557276694,-0.000263541190456,2.44425889823e-05,1793244717432214016
+47,0.783333333,BASELINE,765,745,713.259711863,679.259711863,658,634,878.259711863,786.740288137,805.740288137,652,630.259711863,652,0.400964124891,-0.00537725245845,0.0598440400137,0.999999931848,0.000256054752005,-0.000264840573098,2.45006666101e-05,1793244717448880896
+48,0.800000000,BASELINE,765,745,713.838642568,679.838642568,658,634,878.838642568,786.161357432,805.161357432,652,630.838642568,652,0.40096541547,-0.0053781764936,0.0598449351156,0.999999932829,0.000253914770066,-0.000263174643257,2.46651612087e-05,1793244717465547264
+49,0.816666667,BASELINE,765,744.575246943,714,680,658,634.424753057,879,786,805,652,631,652,0.400965923538,-0.0053782396105,0.0598455419101,0.999999933043,0.000253793873825,-0.000262483427308,2.45990319637e-05,1793244717482213888
+50,0.833333333,BASELINE,765,744.01349262,713.98650738,680,658,634.98650738,879.026985241,786.01349262,805.01349262,652,631,652,0.40096613123,-0.00537794289488,0.0598460437704,0.999999932968,0.000254447143564,-0.000262149152651,2.4448716596e-05,1793244717498880512
+51,0.850000000,BASELINE,765,744.596104223,713.403895777,680,658,634.403895777,880.192208446,786.596104223,805.596104223,652,631,652,0.400966423215,-0.00537650060985,0.0598468186563,0.99999993317,0.000254845514366,-0.000260983729401,2.4506384706e-05,1793244717515547136
+52,0.866666667,BASELINE,765.17629704,745,713.17629704,680,658,634,880.647405919,786.82370296,805.82370296,652.17629704,631,652,0.400966598524,-0.00537610799639,0.0598470317313,0.999999933325,0.000254596530957,-0.000260624450211,2.46163984553e-05,1793244717532214016
+53,0.883333333,BASELINE,765.751023395,745,713.751023395,680,658,634,879.49795321,786.248976605,805.248976605,652.751023395,631,652,0.400966510149,-0.0053780876289,0.0598459751196,0.999999933371,0.000252884534344,-0.000262087047538,2.48447127528e-05,1793244717548880640
+54,0.900000000,BASELINE,765.673818983,745,714,679.673818983,658,634.326181017,879,786,805.326181017,652.673818983,631,652,0.400966363403,-0.00537931734057,0.0598456203433,0.999999933428,0.000252217271397,-0.000262498298159,2.49843669677e-05,1793244717565547008
+55,0.916666667,BASELINE,765.098331762,745,714,679.098331762,658,634.901668238,879,786,805.901668238,652.098331762,631,652,0.400966172042,-0.00537997387375,0.059845801993,0.999999933496,0.000252348517856,-0.000262105984919,2.50562566259e-05,1793244717582213888
+56,0.933333333,BASELINE,765.489437669,745,714,679.489437669,658,634.510562331,879,786,806,652,631,651.510562331,0.400966022111,-0.00537866602912,0.0598456628146,0.999999933145,0.000253589838606,-0.000262267337397,2.48704543289e-05,1793244717598880512
+57,0.950000000,BASELINE,765.921753054,745,714,680,658,634,878.921753054,786,805.921753054,652,631,651.078246946,0.40096602303,-0.00537738067433,0.059845589201,0.999999932868,0.000254714497503,-0.000262249052811,2.46850465553e-05,1793244717615547392
+58,0.966666667,BASELINE,765.342492565,745,714,680,658,634,878.342492565,786,805.342492565,652,631,651.657507435,0.400966935182,-0.00537883135823,0.0598463587365,0.999999933637,0.000253627407038,-0.000260349982739,2.484219472e-05,1793244717632214272
+59,0.983333333,BASELINE,765,745,714,680,658,634,878.235096542,786,805,652,631,652,0.4009676005,-0.00537946709547,0.0598466875617,0.999999933852,0.000253495021544,-0.000259648952938,2.48763423945e-05,1793244717648880896
+60,1.000000000,BASELINE,765,745,714,680,658,634,878.810268026,786,805,652,631,652,0.400967908766,-0.00537892398559,0.0598463788851,0.99999993327,0.000254743648278,-0.000260680927821,2.47325658057e-05,1793244717665547264
+61,1.016666667,BASELINE,765.393087516,745,714,680,658,634,879,786.393087516,805.393087516,652,630.606912484,652,0.400966530212,-0.00537916832354,0.0598453610921,0.999999932979,0.000254152032091,-0.00026236681581,2.47332049059e-05,1793244717682213888
+62,1.033333333,BASELINE,765.97967169,745,714,680,658,634,879,786.97967169,805.97967169,652,630.02032831,652,0.400964321324,-0.00537980028138,0.0598439942377,0.999999932828,0.000252654559393,-0.000264374591344,2.48049323908e-05,1793244717698880256
+63,1.050000000,BASELINE,765.440651783,745,714,679.440651783,658,634,879,787,805.440651783,652,630.559348217,652,0.400966904074,-0.00537900854688,0.0598462966566,0.999999933383,0.000254396135442,-0.000260594587268,2.46567494129e-05,1793244717715547136
+64,1.066666667,BASELINE,765,745,714,679.138058022,658,634.138058022,879,787,805,652.138058022,631,652,0.400968522811,-0.00537823031021,0.0598478064359,0.999999933638,0.000255859584521,-0.000258178762154,2.45529332627e-05,1793244717732214016
+65,1.083333333,BASELINE,765,745,714,679.714485614,658,634.714485614,879,787,805,652.714485614,631,652,0.400966534361,-0.00537765721957,0.0598463811205,0.999999932915,0.000256070689529,-0.00026075430461,2.46150607859e-05,1793244717748880640
+66,1.100000000,BASELINE,765,745,714,680,658.288965598,634.711034402,879,786.711034402,805.288965598,652.711034402,631,652,0.400965118378,-0.00537750235942,0.0598453151123,0.999999932506,0.000255599666507,-0.000262777338957,2.46078826011e-05,1793244717765547264
+67,1.116666667,BASELINE,765,745,714,680,658.861534083,634.138465917,879,786.138465917,805.861534083,652.138465917,631,652,0.400964264239,-0.00537775796814,0.0598446017435,0.999999932408,0.00025445917458,-0.000264258118655,2.45326849009e-05,1793244717782213888
+68,1.133333333,BASELINE,765,745,714,680,658.550356125,634.449643875,879,786.449643875,805.550356125,652,631,652,0.400965995062,-0.00537910153133,0.0598455679842,0.999999933164,0.000253119140914,-0.000262653821959,2.48042666964e-05,1793244717798880512
+69,1.150000000,BASELINE,765,745,714,680,658,634.95832643,879,786.95832643,805.04167357,652.04167357,631,652,0.400968276021,-0.00538060864024,0.0598468780933,0.999999934076,0.000251836625527,-0.000260371249708,2.5146621328e-05,1793244717815547136
+70,1.166666667,BASELINE,765,745,714,680,658,634.379663784,879,786.379663784,805.620336216,652.620336216,631,652,0.400967021258,-0.00537975150115,0.0598457157438,0.999999933577,0.000252115411255,-0.000262028747438,2.49756183533e-05,1793244717832213504
+71,1.183333333,BASELINE,765,745,714,680,658,634.19746827,878.80253173,786.19746827,805.80253173,652.80253173,631,652,0.400966336932,-0.00537930400284,0.05984511295,0.999999933356,0.000252162878692,-0.000262845078623,2.47767710188e-05,1793244717848880128
+72,1.200000000,BASELINE,765,745,714,680,658,634.771680251,878.228319749,786.771680251,805.228319749,652.228319749,631,652,0.400966740923,-0.00537963804555,0.0598455777153,0.999999933669,0.000251769021041,-0.000262056574001,2.45248002466e-05,1793244717865547008
+73,1.216666667,BASELINE,765.354312833,745,714,680,658,634.645687167,878.354312833,786.645687167,805.354312833,652,631,652,0.400966823958,-0.00537891322397,0.0598457999012,0.999999933571,0.000252479132391,-0.00026175843718,2.43776405649e-05,1793244717882214144
+74,1.233333333,BASELINE,765.942503726,745,714,680,658,634.057496274,878.942503726,786.057496274,805.942503726,652,631,652,0.400966695135,-0.00537748945753,0.0598458619631,0.999999933202,0.000253917961738,-0.000261783986874,2.42996655631e-05,1793244717898881024
+75,1.250000000,BASELINE,765.476966901,745,714,680,658,634,879,786.523033099,805.476966901,652,631,651.476966901,0.400966306026,-0.0053765963433,0.0598462598742,0.999999933187,0.000254163843737,-0.000261606625604,2.42808299363e-05,1793244717915547392
+76,1.266666667,BASELINE,765,744.897744354,714,680,658,634,879,786.897744354,805,652,631,651,0.400965858089,-0.00537621901673,0.0598464176926,0.999999933248,0.000253826581058,-0.000261702147982,2.42648905049e-05,1793244717932214016
+77,1.283333333,BASELINE,765,744.320735357,714,680,658,634,879,786.320735357,805,652,631,651,0.400965267947,-0.00537796947054,0.0598452918713,0.999999933482,0.000251381952729,-0.000263166682843,2.42326499157e-05,1793244717948880640
+78,1.300000000,BASELINE,765,744.255405091,714,680,658,634,878.744594909,786,805,652,630.744594909,651.255405091,0.400965425876,-0.00537893457768,0.0598451452412,0.99999993352,0.000251274244194,-0.000263112862234,2.43602619455e-05,1793244717965547008
+79,1.316666667,BASELINE,765,744.830458475,714,680,658,634,878.169541525,786,805,652,630.169541525,651.830458475,0.400966520041,-0.0053789167962,0.0598462241027,0.999999933312,0.000254091271691,-0.000261158767191,2.46879350529e-05,1793244717982213632
+80,1.333333333,BASELINE,765.41481052,745,714,680,658,634,878,786.41481052,805,652,630.41481052,652,0.40096765281,-0.00537954372489,0.0598468642323,0.999999933293,0.000255384903779,-0.000259947837603,2.48783782107e-05,1793244717998880512
+81,1.350000000,BASELINE,765.996996951,745,714,680,658,634.003003049,878.003003049,787,805.003003049,652,630.996996951,652,0.400968790151,-0.00538042623844,0.0598473177625,0.999999933356,0.000256034612051,-0.000259054648507,2.50080542478e-05,1793244718015547136
+82,1.366666667,BASELINE,765.417872606,745,714,680,658,634.582127394,878.582127394,787,805.582127394,652,630.417872606,652,0.400967708156,-0.00537862985933,0.0598471633456,0.999999933428,0.000255340738618,-0.000259509856505,2.44869330712e-05,1793244718032213760
+83,1.383333333,BASELINE,765.160588971,745,714,680,658,634.839411029,878.839411029,787,806,652,630.160588971,652,0.400966800051,-0.00537763199538,0.0598470911319,0.999999933447,0.000254853059331,-0.000259938212107,2.42496489569e-05,1793244718048880640
+84,1.400000000,BASELINE,765.737333158,745,714,680,658,634.262666842,878.262666842,787,806,652,630.737333158,652,0.400966342568,-0.00537870342786,0.059847231942,0.99999993333,0.000254899717769,-0.000260296981682,2.47479088532e-05,1793244718065547264
+85,1.416666667,BASELINE,766,745,714,680,658,634,878.312858308,787,805.687141692,652,631,652,0.400965798693,-0.00537919268443,0.0598468122805,0.999999933316,0.000254125824732,-0.000261082788698,2.49567383175e-05,1793244718082214144
+86,1.433333333,BASELINE,766,745,714,680,658,634,878.887363929,787,805.112636071,652,631,652,0.400965182568,-0.00537919505993,0.0598459238898,0.999999933388,0.000252665694243,-0.000262225732441,2.49235134656e-05,1793244718098880768
+87,1.450000000,BASELINE,765.522032912,745,714,679.522032912,658,634,879,787,805,652,631,651.522032912,0.400965962233,-0.0053780377489,0.059846376887,0.999999933133,0.000254262597792,-0.000261678789956,2.46685244426e-05,1793244718115547392
+88,1.466666667,BASELINE,765,745,714,679.070136186,658,634,879,787,805,652,631,651.070136186,0.400966852371,-0.00537686966236,0.0598470235953,0.99999993284,0.000256253917646,-0.000260878444089,2.44379254526e-05,1793244718132214016
+89,1.483333333,BASELINE,765,745,714,679.645312974,658,634,879,787,805,652,631,651.645312974,0.400966086908,-0.00537766047591,0.0598467096145,0.999999932879,0.000255717000988,-0.000261220938677,2.4772389419e-05,1793244718148880640
+90,1.500000000,BASELINE,765,745,714,679.77951667,658,634.22048333,878.77951667,786.77951667,805,652,631,652,0.4009655509,-0.00537865419256,0.0598462323103,0.999999933088,0.00025432008334,-0.000261762949045,2.49926351715e-05,1793244718165547264
+91,1.516666667,BASELINE,765,745,714,679.204356719,658,634.795643281,878.204356719,786.204356719,805,652,631,652,0.400965383999,-0.00537997430561,0.0598454922785,0.999999933564,0.00025153974031,-0.000262625906925,2.50291457753e-05,1793244718182214144
+92,1.533333333,BASELINE,765,745,714,679.381173071,657.618826929,634.618826929,878.381173071,786,805,652.381173071,631,652,0.400965413435,-0.00538031939077,0.0598453028903,0.999999933636,0.000251140161437,-0.000262755147515,2.48240702756e-05,1793244718198880768
+93,1.550000000,BASELINE,765,745,714,679.972417931,657.027582069,634.027582069,878.972417931,786,805,652.972417931,631,652,0.400965551076,-0.00538012711949,0.0598454169723,0.999999933487,0.000252052667095,-0.000262480022515,2.44858520444e-05,1793244718215547392
+94,1.566666667,BASELINE,765.552244219,744.447755781,714,680,657.552244219,634,879,786,805,652.447755781,631,652,0.400966930818,-0.00537892039501,0.0598463315881,0.999999933623,0.000253710332987,-0.000260354457843,2.44941787334e-05,1793244718232214016
+95,1.583333333,BASELINE,766,744.13009027,713.86990973,680,658,634.13009027,878.86990973,786,805.13009027,652,631,652,0.400967993213,-0.00537813663914,0.0598471507956,0.999999933862,0.00025450790558,-0.00025865399065,2.45076150818e-05,1793244718248880640
+96,1.600000000,BASELINE,766,744.703096769,713.296903231,680,658,634.703096769,878.296903231,786,805.703096769,652,631,652,0.400967768206,-0.00537896196881,0.0598475117963,0.999999934419,0.000252252986608,-0.000258709135172,2.44807125981e-05,1793244718265547264
+97,1.616666667,BASELINE,765.722861214,745,713,680,658.277138786,635,878.277138786,786,805.722861214,652,630.722861214,652,0.400966805033,-0.00537896760492,0.0598469479248,0.999999934022,0.00025242253405,-0.000260074791025,2.44900342482e-05,1793244718282213888
+98,1.633333333,BASELINE,765.147705704,745,713,680,658.852294296,635,878.852294296,786,805.147705704,652,630.147705704,652,0.400965048086,-0.00537809179671,0.0598453895071,0.999999932591,0.000255199192492,-0.000262849684102,2.45383089381e-05,1793244718298880512
+99,1.650000000,BASELINE,765.440816023,745,713,679.559183977,659,635,879,786.440816023,805,652,630.440816023,652,0.400966664855,-0.00537778326629,0.0598463736126,0.999999933039,0.000255071524025,-0.000261276105438,2.43806996061e-05,1793244718315547392
+100,1.666666667,BASELINE,765.966965461,745.033034539,713.033034539,679.033034539,658.966965461,634.966965461,878.966965461,786.966965461,805.033034539,652,631,652,0.400969234888,-0.00537774766504,0.0598480900967,0.999999934079,0.000253928033114,-0.000258412107315,2.41878637136e-05,1793244718332214016
+101,1.683333333,BASELINE,765.389928655,745.610071345,713.610071345,679.610071345,658.389928655,634.389928655,878.389928655,786.389928655,805.610071345,652,631,652,0.400968305102,-0.00537897852353,0.0598473991273,0.999999934247,0.000252583151949,-0.000259042538144,2.4586495288e-05,1793244718348880640
+102,1.700000000,BASELINE,765.186282159,745.813717841,714,680,658,634.186282159,878,786.186282159,805.813717841,652,631,652,0.400967465535,-0.00537962026186,0.0598469233045,0.999999934235,0.000252047227667,-0.000259587240324,2.48240468959e-05,1793244718365547008
+103,1.716666667,BASELINE,765.760771555,745.239228445,714,680,658,634.760771555,878,786.760771555,805.239228445,652,631,652,0.400966813984,-0.00537903428876,0.0598468958417,0.999999933852,0.000253197148935,-0.000259953286117,2.47259119374e-05,1793244718382213632
+104,1.733333333,BASELINE,765.656075918,745,714,680,658,634.656075918,878.343924082,786.656075918,805,652.343924082,631,652,0.400967289312,-0.00537882443016,0.0598472148281,0.999999933982,0.000253521496736,-0.000259130607021,2.47860841885e-05,1793244718398880512
+105,1.750000000,BASELINE,765.066741677,745,714,680,658,634.066741677,878.933258323,786.066741677,805,652.933258323,631,652,0.400968568735,-0.00537888295142,0.0598477810265,0.999999934476,0.000253256749192,-0.000257459702497,2.49592179794e-05,1793244718415547136
+106,1.766666667,BASELINE,765,745,714,679.485304488,658.514695512,634,879,786.514695512,805.514695512,652.485304488,631,652,0.400967167329,-0.00537975672172,0.0598469183395,0.999999934149,0.000252823289298,-0.000259153797262,2.49319214032e-05,1793244718432213760
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,806,652,631,652,0.400969366601,-0.00537992818714,0.0598484740668,0.999999934675,0.000251840066571,-0.000258104549575,2.46558421307e-05,1793244718474946048
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.570603601,879,786.429396399,805.429396399,652,631,652,0.400968246455,-0.00537882682699,0.0598476785028,0.999999933912,0.00025358474512,-0.000259373024775,2.44012253325e-05,1793244718491612672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.853548528,879,786,805.146451472,652,630.853548528,652,0.400966878081,-0.00537818454921,0.0598468003422,0.999999933314,0.000254468156071,-0.000260824743786,2.42420703602e-05,1793244718508279296
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.261753232,879,786,805.738246768,652,630.261753232,652,0.40096475487,-0.00537893829329,0.0598456710134,0.999999933225,0.000252732541502,-0.00026283368864,2.43732048932e-05,1793244718524945920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.32207084,806,652,630.32207084,652,0.40096423615,-0.00537872769786,0.0598454105671,0.999999932872,0.00025351582691,-0.000263409862976,2.45034868886e-05,1793244718541612544
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.899572975,806,652,630.899572975,652,0.400964989935,-0.00537775229396,0.0598458392234,0.999999932308,0.000256296827843,-0.000262849720629,2.46330927365e-05,1793244718558279168
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.474600212,745,714,679.525399788,658,634.474600212,879,786.525399788,805.525399788,652,631,652,0.400964768752,-0.00537811564141,0.0598453126216,0.999999932469,0.000255130841259,-0.000263380002362,2.45182967651e-05,1793244718574945536
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634.949632044,879,786.050367956,804.949632044,652,630.949632044,652,0.400964923166,-0.00537870493367,0.0598448924175,0.999999932852,0.000253334535974,-0.000263674852463,2.43601757603e-05,1793244718591612160
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,658,634.360367349,879,786.639632651,804.360367349,652,630.360367349,652,0.400971292029,-0.00537869646212,0.0598477620566,0.999999933988,0.000253683897241,-0.000258994873956,2.42889636857e-05,1793244718608279040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.774780908,745,714,679.225219092,658,634,879,787,804.225219092,652,630.225219092,652,0.400985010844,-0.00537912853659,0.0598536071647,0.999999936701,0.000253005172345,-0.00024896988984,2.44827386284e-05,1793244718624945920
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765.38268058,745,714,680,658.38268058,634,878.61731942,787,805,652,630.61731942,652,0.401055968437,-0.00538166885397,0.0598805752085,0.999999948039,0.000250992705438,-0.000200597264936,2.61632637056e-05,1793244718658279168
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.959267621,745,714,680,658.959267621,634,878.040732379,787,805,652,630.040732379,652,0.401111960866,-0.00538322996139,0.059900007752,0.999999954137,0.000252585929525,-0.000164841173552,2.74652057569e-05,1793244718674945536
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.111071693,634,879,786.111071693,805,652,631,652,0.401261576491,-0.00538812936106,0.0599333143516,0.999999961768,0.000248266334673,-0.000118311181842,2.88224067353e-05,1793244718708278528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.702052543,634,879,786.702052543,805,652,631,652,0.401343002241,-0.00538821714296,0.0599389317656,0.999999962487,0.000250746341262,-0.000106575880385,2.81898532717e-05,1793244718724945152
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.712910418,658.712910418,634.287089582,879,787,805,652,630.712910418,652,0.401434192886,-0.00538965162522,0.0599424515733,0.999999963535,0.000249712001369,-9.91109641674e-05,2.74053521456e-05,1793244718741612288
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.133916899,658.133916899,634.866083101,879,787,805,652,630.133916899,652,0.401535312175,-0.00539245539135,0.0599438385984,0.999999965005,0.000245104380965,-9.5988046213e-05,2.64663553081e-05,1793244718758279168
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.441829866,634.558170134,879,786.558170134,805,652,630,652,0.401657382261,-0.00539714756921,0.0599463678878,0.999999966278,0.000242090079076,-9.04148463192e-05,2.57219566065e-05,1793244718774945792
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.016667072,745,714,679.016667072,658.983332928,634,879,786.016667072,805,652.016667072,630.016667072,651.983332928,0.401786587498,-0.00540237465634,0.0599491099584,0.999999967446,0.000239553347246,-8.42423946391e-05,2.50138954284e-05,1793244718791612672
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.593768934,745,714,679.593768934,658.406231066,634,879,786.593768934,805,652.593768934,630.593768934,651.406231066,0.401943747841,-0.00540648250987,0.0599474501807,0.999999968228,0.000236954890017,-8.2710274059e-05,2.35588772695e-05,1793244718808279296
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.825665341,745,714,680,658,634,879,787,805,652.825665341,630.825665341,651.174334659,0.402109286937,-0.00541061920143,0.0599465392672,0.999999969137,0.000234274804713,-7.9767285998e-05,2.18887841333e-05,1793244718824945664
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.236864655,745,714,680,658,634,879,787,805,652.236864655,630.236864655,651.763135345,0.402294745795,-0.00541482445237,0.059947408716,0.999999970334,0.000231400655877,-7.34700790752e-05,1.97073684883e-05,1793244718841612288
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.654034624,658.345965376,634.345965376,879,787,805.345965376,652,630.345965376,652,0.402505270865,-0.00541998833556,0.05994871095,0.999999971803,0.00022746129564,-6.5904792114e-05,1.76483052007e-05,1793244718858278912
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.075222984,658.924777016,634.924777016,879,787,805.924777016,652,630.924777016,652,0.402732666352,-0.00542579741074,0.0599503044631,0.999999973404,0.000222805012221,-5.74860442613e-05,1.56715889196e-05,1793244718874945536
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.500882692,634.500882692,879,787,805.500882692,652,631,652,0.402989882465,-0.00543293047662,0.0599501907693,0.999999975463,0.000214661738841,-5.31032264996e-05,1.32254358577e-05,1793244718891612160
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.925210014,713.925210014,679.074789986,658.074789986,634,879,786.925210014,805,652,630.925210014,652,0.403256575869,-0.00544019967752,0.0599498936342,0.999999977501,0.000205997797194,-4.94838237386e-05,1.06504692508e-05,1793244718908278784
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.335772602,713.335772602,679.664227398,658.664227398,634,879,786.335772602,805,652,630.335772602,652,0.403557832931,-0.00544704475975,0.0599500889937,0.999999979397,0.000197335206491,-4.69692187353e-05,7.6716283399e-06,1793244718924945664
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.249398307,713,680,658.750601693,634.249398307,879,786,805,652,630,652,0.403867933992,-0.00545448639811,0.0599440812936,0.999999980875,0.000187494753473,-5.54864099482e-05,4.19770684829e-06,1793244718941612288
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.828921671,713,680,658.171078329,634.828921671,879,786,805,652,630,652,0.404189741713,-0.00546271768908,0.0599298626899,0.999999981406,0.000176095180999,-7.86062359304e-05,6.845428048e-08,1793244718958278912
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713.406316263,680,658,634.593683737,878.593683737,786,805,652,630,651.593683737,0.404533504196,-0.00547130469948,0.0599158262134,0.999999981036,0.000164534940388,-0.000104111952837,-4.11599733061e-06,1793244718974945536
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713.982819198,680,658,634.017180802,878.017180802,786,805,652,630,651.017180802,0.404886462483,-0.00548004070373,0.0599018660218,0.999999979745,0.000152907403689,-0.00013061700601,-8.32356910483e-06,1793244718991611904
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.557437471,786,805,652,630.557437471,651.557437471,0.405307667723,-0.00548807774599,0.0599008402451,0.999999982569,0.000127439187229,-0.000135946638011,-1.18164598531e-05,1793244719008279040
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.864733709,658,634,879,786,804.864733709,652,631,652,0.405750912384,-0.00549634467942,0.0599072936295,0.999999987671,9.02018511906e-05,-0.000127654215785,-1.50133398547e-05,1793244719024945664
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.275946585,658,634,879,786,804.275946585,652,631,652,0.406261022079,-0.00550545437542,0.0599374910489,0.999999996861,1.49304468348e-05,-7.58705939268e-05,-1.72913582143e-05,1793244719041612032
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.30863015,634,879,786,804.30863015,652,631,651.69136985,0.40679771696,-0.00551106939878,0.0599683331358,0.999999999422,-1.69416183312e-05,-2.23415646361e-05,-1.92231074456e-05,1793244719058278656
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.889493103,634,879,786,804.889493103,652,631,651.110506897,0.407357861842,-0.00551360188401,0.0599997438668,0.999999999192,-1.05325204536e-05,3.27270384048e-05,-2.08494240431e-05,1793244719074945536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.53346001,714,679.46653999,658.53346001,634,879,786.46653999,805,652,631,651.46653999,0.407891603618,-0.00550471508589,0.060004096795,0.999999999309,1.42834103489e-06,2.82823644583e-05,-2.40905567397e-05,1793244719091612160
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.042522163,714,680,658.042522163,634,879,786.957477837,805,652,631,652,0.4084222605,-0.00549417426029,0.06000101746,0.999999999497,1.25930662251e-05,8.71307913692e-06,-2.77779826499e-05,1793244719108278784
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.616403521,714,680,658.616403521,634,879,786.383596479,805,652,631,652,0.408991884674,-0.0054964900399,0.0599845021199,0.999999999159,-2.48996565283e-06,-2.51314511658e-05,-3.23014393525e-05,1793244719124945408
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.197159331,745,714,680,658.802840669,634,879,786,805.197159331,652,631,652,0.409589503655,-0.0055020586175,0.0599742109158,0.999999998076,-1.98079885534e-05,-4.65020267019e-05,-3.59717677236e-05,1793244719141612032
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.791773355,745,714,680,658.208226645,634,879,786,805.791773355,652,631,652,0.4102435575,-0.00551418453016,0.0599764669864,0.999999997502,-4.1631542523e-05,-4.27262791226e-05,-3.79222693056e-05,1793244719158278656
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,879,786,805.627361697,652,631,652,0.410924373417,-0.00551959512974,0.0599841563631,0.999999999022,-1.94702764194e-05,-2.38819229279e-05,-3.17358662077e-05,1793244719174945536
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,879,786,805.053906235,652,631,652,0.411619611563,-0.00552138680384,0.0599947737833,0.999999999423,2.63946907844e-05,3.08300258558e-06,-2.11644330945e-05,1793244719191612160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.478157279,745,714,680,658.521842721,634,879,786.521842721,805,652,630.478157279,652,0.412300230974,-0.00551490744266,0.0599804802662,0.999999999298,1.50112472963e-05,-2.28697988045e-05,-2.56168732446e-05,1793244719208279040
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.099953374,745,713.900046626,680,658.900046626,634,879.099953374,787,805,652,630,652,0.41298148916,-0.00550817494642,0.0599600098962,0.999999997585,-1.02162326082e-06,-6.20214520666e-05,-3.1344211104e-05,1793244719224945664
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.688443912,745,713.311556088,680,658.311556088,634,879.688443912,787,805,652,630,652,0.413673282717,-0.00550439964074,0.0599219821174,0.999999989666,-1.07473351395e-05,-0.000138848728066,-3.56838650672e-05,1793244719241612288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.725730694,745,713.274269306,680,658.274269306,634,879.725730694,786.725730694,805,652,630.274269306,652,0.414436173107,-0.00550562661809,0.0599170887002,0.999999988058,-1.33617171707e-05,-0.000149245207312,-3.7828032233e-05,1793244719258279168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.142903558,745,713.857096442,680,658.857096442,634,879.142903558,786.142903558,805,652,630.857096442,652,0.41527904878,-0.00551248125202,0.059949472022,0.99999999566,-7.97572835118e-06,-8.49058729577e-05,-3.75022384673e-05,1793244719274945536
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,631,652,0.416124420403,-0.00551916042178,0.0599885924048,0.999999999163,-9.85861889825e-06,-1.85105100969e-05,-3.51365190858e-05,1793244719291612416
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.006053806,745,714,680.006053806,659,634,879.006053806,786,805,652,631,652,0.416970282631,-0.00552571684506,0.060029383583,0.999999998246,-1.4130551361e-05,4.768699486e-05,-3.21568362168e-05,1793244719308279296
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.580646569,745,714,680.580646569,659,634,879.580646569,786,805,652,631,652,0.417786080794,-0.00552609851724,0.0600215599838,0.999999998679,-2.1017016287e-05,3.25802130123e-05,-3.37489228906e-05,1793244719324945664
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.839807972,745,714,680.839807972,659,634,879.839807972,786.160192028,805.160192028,652,631,652,0.41861267166,-0.00552557909093,0.0600092016577,0.999999998938,-2.66758628237e-05,1.11149352481e-05,-3.58992731891e-05,1793244719341612544
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.246883661,745,714,680.246883661,659,634,879.246883661,786.753116339,805.753116339,652,631,652,0.41946841718,-0.00552262549602,0.0599845935171,0.999999998418,-2.90185007814e-05,-2.7526767283e-05,-3.95576802826e-05,1793244719358279424
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.336326797,745,714,680,659,634,879,787,805.663673203,651.663673203,631,651.663673203,0.42030746498,-0.0055208442655,0.0599548824454,0.999999996225,-2.73046703199e-05,-7.0489062729e-05,-4.28490777283e-05,1793244719374946048
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.912606854,745,714,680,659,634,879,787,805.087393146,651.087393146,631,651.087393146,0.421134599711,-0.00551989946166,0.0599215306749,0.9999999919,-2.26967413983e-05,-0.000116533895111,-4.5878630953e-05,1793244719391612416
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.510900833,745,714,680,659,634.489099167,879.489099167,787,805,651.489099167,631,651.489099167,0.421975086379,-0.00552072998059,0.0598937315142,0.999999983619,-2.51683768947e-05,-0.000173079682726,-4.66096428684e-05,1793244719408278784
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.067057855,745,714,680.067057855,659,634.932942145,879.932942145,786.932942145,805.067057855,651.932942145,631,651.932942145,0.422833365325,-0.00552241954509,0.0598773250719,0.99999997608,-2.99013662873e-05,-0.000211555352324,-4.68024188143e-05,1793244719424945408
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.656136034,745,714,680.656136034,659,634.343863966,879.343863966,786.343863966,805.656136034,651.343863966,631,651.343863966,0.423811569817,-0.00552832596221,0.059941879823,0.999999993555,-4.23864014176e-05,-9.47490089091e-05,-4.60038228057e-05,1793244719441612032
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.75895445,745,713.75895445,681,659,634,879,786.24104555,805.75895445,651.24104555,631,651,0.424785908622,-0.00553211385626,0.0599958506971,0.999999997815,-4.83740980361e-05,-1.75724841516e-06,-4.50246576202e-05,1793244719458278656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179890569,745,713.179890569,681,659,634,879,786.820109431,805.179890569,651.820109431,631,651,0.425754826716,-0.00553293094488,0.0600349798028,0.999999996345,-4.52505750162e-05,5.78393227305e-05,-4.37922806355e-05,1793244719474945280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.395805728,680.604194272,659.395805728,634,879,787,805.395805728,652,631,651.395805728,0.4266816584,-0.00553424717679,0.0600350630954,0.999999995679,-4.65055930891e-05,6.66460026488e-05,-4.51333766148e-05,1793244719491612160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.969984363,680.030015637,659.969984363,634,879,787,805.969984363,652,631,651.969984363,0.427589523459,-0.00553578835144,0.0600175500886,0.999999996247,-4.97338347247e-05,5.25638225841e-05,-4.7634228159e-05,1793244719508279296
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.557436278,745,714,680.557436278,660,634,879.557436278,787,806,651.442563722,631,652,0.428450216398,-0.00553797133879,0.0599926571414,0.999999996838,-5.97750233085e-05,1.526247237e-05,-5.01717862582e-05,1793244719524945920
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.856787303,745,713.856787303,681,659.856787303,634,880,787,806,651.143212697,631,652,0.429303979961,-0.00553839474491,0.0599645587898,0.999999996094,-6.41553477516e-05,-3.12011633156e-05,-5.21738839412e-05,1793244719541612288
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.278328122,745,713.278328122,681,659.278328122,634,880,787,806,651.721671878,631,652,0.430144591826,-0.00553336290759,0.0599279558564,0.999999992197,-5.01892841779e-05,-0.000101618046524,-5.25424775589e-05,1793244719558278912
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.300356172,680.699643828,659.300356172,634,880,787,806,652,631,652,0.431062536627,-0.0055326913055,0.0599281032831,0.999999992474,-5.01708063187e-05,-9.87612481162e-05,-5.27432545851e-05,1793244719574945536
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.879249193,680.120750807,659.879249193,634,880,787,806,652,631,652,0.432052196478,-0.00553606319037,0.0599623313483,0.999999996226,-6.30866949522e-05,-2.79537182121e-05,-5.27884059859e-05,1793244719591611904
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.455472947,745,714,680.910945895,660,634,880,786.544527053,806.455472947,652,631,652,0.432980456485,-0.00554041530912,0.0599966333534,0.999999996342,-6.27812045247e-05,2.6750310907e-05,-5.15643801546e-05,1793244719608278784
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681.968379321,659.968379321,634,880,786.031620679,806.968379321,652,631,652,0.433887821092,-0.0055447491227,0.0600279134604,0.999999994359,-5.93692518514e-05,7.23596847657e-05,-5.02119855825e-05,1793244719624945664
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681.381207549,659.381207549,634,880,786.618792451,806.381207549,652,631,652,0.434712389895,-0.00554422219588,0.0600057586994,0.999999996127,-6.26028068651e-05,3.27526470459e-05,-5.24813774228e-05,1793244719641612544
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.796945927,745,713.796945927,681,659,634,880,786.796945927,806,652,631,651.796945927,0.435534983279,-0.00554418996726,0.0599798633633,0.999999995936,-7.02641490912e-05,-1.42600136894e-05,-5.46660949085e-05,1793244719658279424
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.218070439,745,713.218070439,681,659,634,880,786.218070439,806,652,631,651.218070439,0.436353920614,-0.00554507334777,0.0599470448026,0.999999991874,-8.61206353134e-05,-7.49793341849e-05,-5.66940937439e-05,1793244719674946048
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.640186069,713.359813931,681,659,634,880,786.359813931,806,652,631,651.359813931,0.437161560682,-0.00554308585771,0.0599245472174,0.999999987931,-8.35326505595e-05,-0.000117632208498,-5.76428936893e-05,1793244719691612416
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.062900767,713.937099233,681,659,634,880,786.937099233,806,652,631,651.937099233,0.437962372638,-0.00553936321476,0.059908287627,0.999999984731,-6.97968352737e-05,-0.000149365727575,-5.79394262457e-05,1793244719708279040
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.511552149,744.511552149,713.488447851,681,659,634,880.511552149,787,806,652,631,651.488447851,0.438756366842,-0.00553944155688,0.0599098361682,0.999999984537,-6.9950124119e-05,-0.000150276864353,-5.87408007571e-05,1793244719724945664
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.91171379,745,713.08828621,681.08828621,659,634,880.91171379,786.91171379,806.08828621,652,631,651.08828621,0.439550933962,-0.00554029374101,0.0599194234314,0.999999986081,-7.31295026943e-05,-0.000137735164899,-5.93146766367e-05,1793244719741612544
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.319997067,745,713.680002933,681.680002933,659,634,880.319997067,786.319997067,806.680002933,652,631,651.680002933,0.440353521936,-0.00554290817325,0.0599624320716,0.999999992338,-8.38796559176e-05,-6.99741585992e-05,-5.82392747498e-05,1793244719758278912
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.734101317,682,659,633.734101317,880,786,806.734101317,651.734101317,631,651.734101317,0.441104625387,-0.00554494374132,0.0599741323546,0.999999992986,-8.75516002574e-05,-5.51443480365e-05,-5.7629878088e-05,1793244719774945536
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713,682,659,633,880,786,806,651.419319845,631,651.419319845,0.442442074172,-0.00554532815287,0.0598941869891,0.99999997755,-8.45984547429e-05,-0.000184608793718,-6.05134813321e-05,1793244719808279040
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.32321663,745.32321663,713.32321663,682,658,632.67678337,880.32321663,786,806.32321663,652,631,652,0.445465135264,-0.00554551127385,0.0597833343213,0.999999930104,-8.95405940635e-05,-0.000356487481031,-6.84991269783e-05,1793244719891612416
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.896109428,745.896109428,713.896109428,682,658,632.103890572,880.896109428,786,806.896109428,652,631,652,0.44598585849,-0.00554159044722,0.0597550685455,0.999999908292,-9.05299993498e-05,-0.000412565040328,-7.07884362959e-05,1793244719908279040
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.358031589,631.358031589,880,785,806.641968411,651.358031589,630,652,0.447509291626,-0.00554689370819,0.0597182688074,0.999999888067,-0.000104832514926,-0.000454840244469,-7.74320442686e-05,1793244719958279168
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765.804348423,745,714.804348423,682,657,631,880.804348423,785,807,651.804348423,630,652,0.448431402223,-0.00556069227677,0.0597310259731,0.99999989717,-0.000110906040804,-0.000432696267877,-7.83246528672e-05,1793244719991612160
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764.81860195,745.18139805,713.81860195,682,655,629.81860195,880,784,806,652,629.81860195,652,0.452765290175,-0.00556654311445,0.0596068409775,0.99999980246,-0.000125731574039,-0.000612088974671,-6.79556436283e-05,1793244720691612672
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.239155491,745.760844509,713.239155491,682,655,629.239155491,880,784,806,652,629.239155491,652,0.45276452886,-0.00556630667205,0.0596062487062,0.999999801878,-0.000126201053596,-0.000612945329106,-6.79301510453e-05,1793244720708279552
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.339092998,745.660907002,713.339092998,682,655,629,880,783.660907002,806.339092998,652,629.339092998,652,0.452764106398,-0.00556597356255,0.0596055301234,0.999999801492,-0.000125939489411,-0.000613638670877,-6.7844029257e-05,1793244720724945920
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.916499533,745.083500467,713.916499533,682,655,629,880,783.083500467,806.916499533,652,629.916499533,652,0.452763922079,-0.0055655725157,0.0596047227692,0.999999801243,-0.000125164149869,-0.0006142174478,-6.77152974467e-05,1793244720741612544
+244,4.066666667,HOLD_POSE2,765,745,714,682,655,629,881,783,807,652,630,652,0.452762655194,-0.00556591647712,0.0596038905899,0.999999800374,-0.000124395258165,-0.000615775518542,-6.78115386528e-05,1793244720773088256
+245,4.083333333,HOLD_POSE2,765,745,714,682,655,629,880.409022964,783.590977036,807,652,630,652,0.452764245229,-0.00556704329942,0.0596048548112,0.999999801331,-0.00012676426258,-0.000613758374239,-6.75925892339e-05,1793244720789754880
+246,4.100000000,HOLD_POSE2,765,745.178258523,714,682,655,629,880,784,807,652,630,652,0.452765280023,-0.00556719989167,0.0596052893138,0.999999802103,-0.000127154836024,-0.00061244062322,-6.74005550608e-05,1793244720806421504
+247,4.116666667,HOLD_POSE2,765,745.757232728,714,682,655,629,880,784,807,652,630,652,0.452765066662,-0.00556517545856,0.0596045330368,0.999999802463,-0.000123098002304,-0.000612695070721,-6.7269024887e-05,1793244720823088128
+248,4.133333333,HOLD_POSE2,765,745.665343287,714,682,655,629,880,783.665343287,807,652,630,652,0.452766045587,-0.00556550715124,0.059605138623,0.999999803006,-0.000122833894749,-0.000611887794469,-6.70373185317e-05,1793244720839755008
+249,4.150000000,HOLD_POSE2,765,745.089038714,714,682,655,629,880,783.089038714,807,652,630,652,0.452767885434,-0.00556754014788,0.0596067275791,0.999999803681,-0.000125308427134,-0.000610313872075,-6.67332772845e-05,1793244720856421632
+250,4.166666667,HOLD_POSE2,765,745,714,681.504131354,655,629,880,783.495868646,807,652,630,652,0.452766169452,-0.00556611614835,0.0596052320233,0.99999980222,-0.00012374414112,-0.00061295790999,-6.73030167429e-05,1793244720873088256
+251,4.183333333,HOLD_POSE2,765,745,714,681.081323259,655,629,880,784,806.918676741,652,629.918676741,652,0.452764083296,-0.00556434213956,0.0596033432414,0.999999800474,-0.000122001147527,-0.000616086137397,-6.78584437498e-05,1793244720889754880
+252,4.200000000,HOLD_POSE2,765,745,714,681.660504422,655,629,880,784,806.339495578,652,629.339495578,652,0.452763708766,-0.00556429263898,0.0596024977076,0.999999799455,-0.000123682233888,-0.00061746003221,-6.73487747575e-05,1793244720906421504
+253,4.216666667,HOLD_POSE2,765,745.239279673,714,682,655,629,880,784,806.239279673,652,629.239279673,652,0.45276435407,-0.00556441921577,0.0596027248824,0.999999799436,-0.000124826576245,-0.000617289213773,-6.70843984904e-05,1793244720923087872
+254,4.233333333,HOLD_POSE2,765,745.817479932,714,682,655,629,880,784,806.817479932,652,629.817479932,652,0.452766443885,-0.00556479519214,0.0596044714634,0.999999800836,-0.000125210663355,-0.000614930432014,-6.71674598619e-05,1793244720939754752
+255,4.250000000,HOLD_POSE2,765,746,714,682,655,629,880.39351753,783.60648247,806.60648247,652,630,652,0.452766659524,-0.00556374317288,0.0596047042172,0.999999801307,-0.000122818162051,-0.000614632775826,-6.72850891533e-05,1793244720956421632
+256,4.266666667,HOLD_POSE2,765,746,714,682,655,629,880.968557581,783.031442419,806.031442419,652,630,652,0.452766010639,-0.0055620324451,0.0596042386702,0.999999801341,-0.000119144870748,-0.000615285879383,-6.74186640079e-05,1793244720973088256
+257,4.283333333,HOLD_POSE2,765,745.459227387,714,682,655,629,881,783.540772613,806,652,630,652,0.452767135817,-0.00556239123156,0.0596044546882,0.999999802289,-0.000120070513398,-0.000613573944689,-6.73161857003e-05,1793244720989754880
+258,4.300000000,HOLD_POSE2,765,745,714,682.11727057,654.88272943,629,880.88272943,783.88272943,806,652,630,652,0.452767891294,-0.00556287607711,0.0596044069693,0.999999802702,-0.000121324899349,-0.000612660141746,-6.7252212912e-05,1793244721006421504
+259,4.316666667,HOLD_POSE2,765,745,714,682.711866556,654.288133444,629,880.288133444,783.288133444,806,652,630,652,0.452766724313,-0.00556338679193,0.0596031253028,0.999999800732,-0.000122834634471,-0.000615551770856,-6.74005430458e-05,1793244721023088384
+260,4.333333333,HOLD_POSE2,765,745,714,682.701364123,654.298635877,629,880,783.298635877,806,652,629.701364123,652,0.452766973421,-0.00556465400798,0.0596035215477,0.999999800493,-0.000124752850429,-0.000615570887798,-6.72588578027e-05,1793244721039755008
+261,4.350000000,HOLD_POSE2,765,745,714,682.1219534,654.8780466,629,880,783.8780466,806,652,629.1219534,652,0.452768553925,-0.00556663247987,0.0596054953504,0.999999801878,-0.000127055116417,-0.000612889293691,-6.68445026239e-05,1793244721056421376
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,881,784,807,652,630,652,0.452766032159,-0.00556365109771,0.0596038280048,0.999999800956,-0.00012056839984,-0.000615699648942,-6.68207797888e-05,1793244721088426496
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.579360706,714,682,655,629,881,784,807,651.420639294,630,652,0.452766121682,-0.00556317868278,0.0596032748094,0.999999800598,-0.00012081408731,-0.000616206904077,-6.70644816321e-05,1793244721105093120
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.157604534,655,629,880.842395466,784,806.842395466,651.157604534,630,652,0.452766539337,-0.00556311146962,0.0596030458443,0.999999800528,-0.000121152135211,-0.000616233581249,-6.724204585e-05,1793244721121759744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.732888565,655,629,880.267111435,784,806.267111435,651.732888565,630,652,0.452767826602,-0.00556411811173,0.059603676146,0.999999801225,-0.000121734954412,-0.000614986643131,-6.72443338806e-05,1793244721138426112
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.691042554,714,682.691042554,655,629,880,784,806.308957446,652,629.691042554,652,0.452768092277,-0.00556457835571,0.0596041652963,0.999999801466,-0.00012309461238,-0.000614322512437,-6.72632706603e-05,1793244721155092480
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.114293432,714,682.114293432,655,629,880,784,806.885706568,652,629.114293432,652,0.452767472479,-0.00556456500409,0.0596045321023,0.999999801309,-0.00012512760238,-0.000614163535454,-6.72966378941e-05,1793244721171758848
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880,783.527795432,807,652,629,652,0.452767574845,-0.00556278701733,0.0596049148356,0.999999801842,-0.000122343317561,-0.000613856558905,-6.72901661396e-05,1793244721188425216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.939870648,629,880.060129352,783.060129352,806.939870648,652,629,652,0.452767366101,-0.00556090424186,0.0596049821286,0.999999802239,-0.000119016321379,-0.000613866659626,-6.72708306215e-05,1793244721205091840
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.360432066,629,880.639567934,783.639567934,806.360432066,652,629,652,0.452762929009,-0.005561883021,0.0596022911147,0.999999800083,-0.000121284522456,-0.000616931110273,-6.72254320147e-05,1793244721221758720
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,629,881,784,806.217261965,652,629.217261965,652,0.452751847763,-0.00556224929444,0.0595968693061,0.99999979502,-0.000122482957043,-0.000624832484187,-6.73961831139e-05,1793244721238425856
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,629,881,784,806.792084827,652,629.792084827,652,0.452729831839,-0.00556160753082,0.0595869532673,0.999999785016,-0.000121920813246,-0.000640694269131,-6.79226645951e-05,1793244721255092480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.36745056,629,880.63254944,783.63254944,806.63254944,652,630,652,0.452691347562,-0.00555944711619,0.0595716695538,0.999999769668,-0.000119903677653,-0.000664493589271,-6.88154569115e-05,1793244721271759104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.943123974,629,880.056876026,783.056876026,806.056876026,652,630,652,0.452643531178,-0.005556426129,0.0595533441441,0.999999750725,-0.000117062043144,-0.000692790865938,-6.99158262462e-05,1793244721288426240
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.466852814,629,880,783,806.533147186,652,630,652,0.452583990373,-0.00555560123017,0.0595373425323,0.999999739067,-0.000117298060639,-0.00070930870317,-7.0632252275e-05,1793244721305092608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.879091897,745,714,682,654.120908103,629,880,783.120908103,807,651.879091897,630,652,0.452520707113,-0.00555460314633,0.0595238034152,0.999999729424,-0.000117565103237,-0.00072267408235,-7.12243802331e-05,1793244721321759232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.305685067,745,714,682,654.694314933,629,880,783.694314933,807,651.305685067,630,652,0.452448228137,-0.00555205587898,0.0595185267471,0.999999724861,-0.000116685520489,-0.000729074401856,-7.15088517346e-05,1793244721338425600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.270451029,745,714,682,655,629,880,784,807,651.270451029,630,652,0.452368406046,-0.0055498153057,0.0595177899707,0.999999724371,-0.000114388535564,-0.000730170312475,-7.08785582221e-05,1793244721355092224
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.84970337,745,714,682,655,629,880,784,807,651.84970337,630,652,0.452280199582,-0.00554792491623,0.0595222368485,0.999999728539,-0.00011047315917,-0.000725209642226,-6.92037848926e-05,1793244721371758848
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.575268991,629,880.424731009,784,807,651.575268991,630,652,0.452164806335,-0.00554398665314,0.0595207916571,0.999999727557,-0.000106840848404,-0.00072715932062,-6.86336731322e-05,1793244721388425728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.001721606,629,880.998278394,784,807,651.001721606,630,652,0.452039887442,-0.00553933086035,0.0595172820146,0.999999724753,-0.000103307717671,-0.000731530232819,-6.84506104491e-05,1793244721405092608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.588324467,654.588324467,629,881,784,807,651.588324467,630,652,0.451891001459,-0.00553381236769,0.0595159088867,0.999999721243,-9.82885162074e-05,-0.000737080858568,-6.75704006326e-05,1793244721421759232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.824368686,655,629,880.824368686,784,807,652,629.824368686,652.175631314,0.451733198748,-0.00552880215447,0.0595151912196,0.999999718739,-9.40240877718e-05,-0.000741112916847,-6.65756834655e-05,1793244721438425856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.243496847,655,629,880.243496847,784,807,652,629.243496847,652.756503153,0.451554988657,-0.00552497070657,0.0595159710791,0.99999971867,-9.15114986782e-05,-0.000741632933256,-6.53216023467e-05,1793244721455092480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880.330946358,784,806.669053642,652,629.330946358,652.669053642,0.451356448023,-0.00551974432579,0.0595181306328,0.999999719213,-8.80464028473e-05,-0.000741473548789,-6.35535527842e-05,1793244721471759104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880.900749823,784,806.099250177,652,629.900749823,652.099250177,0.451143234011,-0.00551351116624,0.0595212859663,0.999999720185,-8.38938448844e-05,-0.000740823813821,-6.14145516909e-05,1793244721488425984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880.506864959,784,806.493135041,652,629.506864959,652,0.450893474219,-0.00550478741383,0.0595182937759,0.999999715674,-7.55671664763e-05,-0.000747890783755,-6.00012964716e-05,1793244721505092352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.912658371,745,714,681.912658371,655.087341629,629,880,784,807,652,629.087341629,652,0.450630182387,-0.00549571161887,0.05951365395,0.999999709747,-6.6909078109e-05,-0.00075669160034,-5.87168491662e-05,1793244721521758976
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.334966319,745,714,681.334966319,655.665033681,629,880,784,807,652,629.665033681,652,0.450334195112,-0.00548760863731,0.0595070436307,0.999999703032,-6.133319195e-05,-0.000766088766443,-5.72961564298e-05,1793244721538425856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.241927394,745,714,681.241927394,655.758072606,629.241927394,880,784,806.758072606,652,630,652,0.450024942571,-0.0054786278002,0.05950194996,0.999999698466,-5.33029781961e-05,-0.000772730653587,-5.57964263989e-05,1793244721555092224
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.817719346,745,714,681.817719346,655.182280654,629.817719346,880,784,806.182280654,652,630,652,0.449697383722,-0.00546843550568,0.0594989492945,0.9999996969,-4.18857444513e-05,-0.000775570201062,-5.41876234349e-05,1793244721571759104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.402048902,714,682,655,630,880,784,806.402048902,652,630,652,0.449339516472,-0.00546039472617,0.059499037494,0.99999969989,-3.07195592173e-05,-0.000772397931246,-5.17553825032e-05,1793244721588425728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.990333195,714,682,655,630,880,784,806.990333195,652,630,652,0.448967609902,-0.00545335056262,0.0595005565045,0.999999704893,-1.96696639263e-05,-0.000766440892723,-4.89417121626e-05,1793244721605092096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.430343006,714,682,655.569656994,630,880,784,806.430343006,652,630,652,0.448566069651,-0.0054416188032,0.0595089028371,0.999999714555,-8.20380132713e-06,-0.000754111626553,-4.62342371664e-05,1793244721621758720
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630.147183505,880,784,806.147183505,651.852816495,630,652,0.448159411346,-0.00543118029503,0.0595208769749,0.999999728426,2.04706796169e-06,-0.000735719714004,-4.31391710106e-05,1793244721638425344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630.719945944,880,784,806.719945944,651.280054056,630,652,0.447739385856,-0.00542470765076,0.0595430110468,0.99999975413,8.76470576353e-06,-0.000700105575917,-3.89182612062e-05,1793244721655092224
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.70557966,682,656,631,879.70557966,784.29442034,806.70557966,651.29442034,630,652,0.447297426242,-0.00541792429626,0.0595685364858,0.99999978052,1.66112717404e-05,-0.000661413532975,-3.48703275374e-05,1793244721671758848
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.12946725,682,656,631,879.12946725,784.87053275,806.12946725,651.87053275,630,652,0.446834480703,-0.00541084366329,0.0595973066802,0.999999807132,2.55379612697e-05,-0.000619776643557,-3.09878914553e-05,1793244721688425728
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.458245838,656,631,879.458245838,785,806,652,630.458245838,651.541754162,0.446305445638,-0.00541855144791,0.0596103614926,0.9999998153,1.52407553607e-05,-0.000606979676563,-2.72720741174e-05,1793244721705092864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.048453115,682.951546885,656.048453115,631.048453115,880,785,806.048453115,652,630.951546885,651.048453115,0.445751984935,-0.00543014736998,0.0596164383667,0.999999816331,-1.11274800887e-07,-0.000605625302834,-2.3558340536e-05,1793244721721759488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.629121607,682.370878393,656.629121607,631.629121607,880,785,806.629121607,652,630.370878393,651.629121607,0.44514065361,-0.00543736588104,0.0595959052745,0.999999796158,-9.7787030731e-06,-0.000638133683895,-1.93369907176e-05,1793244721738425856
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,657,632,880,785,806,651,630,651.358210751,0.443359007112,-0.00541109101007,0.0596404097419,0.999999849554,1.99884083306e-05,-0.000548127180939,-6.95531365538e-06,1793244721788425728
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.157837652,713.157837652,681.157837652,658.157837652,633,880,786,806,652,631,651,0.439166957485,-0.00541179439649,0.0597767945704,0.999999910504,0.000228841480258,-0.000354837081228,2.67235605972e-05,1793244721888425472
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.74815304,745,713,681,659,633,879.25184696,786,806,651,631,651.74815304,0.435019038512,-0.00539143812626,0.0597422947643,0.999999913143,0.000156405176568,-0.000386270511653,6.77208143422e-06,1793244721971758848
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.193865663,745,714,681,659,634,880,786,806,652,631,652,0.428815058382,-0.00538924548436,0.0598028536469,0.999999930837,0.000192276913626,-0.00031755666051,2.26768376142e-05,1793244722088425472
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.465296731,745,714,680,658,634,879,786,805,652,630.465296731,652,0.404329890319,-0.00535508339997,0.0597831971241,0.999999905308,0.00026447993698,-0.000344610307911,2.60509959566e-05,1793244722655092480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630,652,0.403949634008,-0.00535060531188,0.0597625196568,0.999999890239,0.0002710552699,-0.000381321564327,2.53975038481e-05,1793244722671759104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630,652,0.403638321724,-0.0053499077741,0.0597664673861,0.999999894478,0.000273704170335,-0.000368043427945,2.5967699327e-05,1793244722688425472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.279462082,652,630.279462082,652,0.403352450638,-0.00535233290917,0.0597779838371,0.999999903034,0.00027194892244,-0.000345299999741,2.72830951809e-05,1793244722705092352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.853329337,652,630.853329337,652,0.403093381133,-0.0053580476893,0.0597974737159,0.999999915454,0.000265554032071,-0.000312585162542,2.93835378965e-05,1793244722721758976
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.439940294,634,879,786.439940294,805.560059706,652.439940294,631,651.560059706,0.402861082711,-0.00536778202314,0.059817730863,0.999999928969,0.000251090262232,-0.000279359215637,3.12116697235e-05,1793244722738425856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.969659134,634,879,786.969659134,805.030340866,653,631,651,0.402638088782,-0.00537846504954,0.0598371128153,0.999999941747,0.000232199637563,-0.00024808551509,3.22943179555e-05,1793244722755092736
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.389865341,634,879,786.389865341,805.610134659,653,631,651,0.402417142905,-0.00538133656946,0.0598358750619,0.999999950366,0.000183310123206,-0.000255343534518,2.15698558925e-05,1793244722771759104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.188729981,745,714,680,658,634,878.811270019,786.188729981,806,652.811270019,631,651.188729981,0.402206032049,-0.00538286786698,0.0598330158831,0.999999953137,0.00015155736519,-0.000265585152394,1.48777415298e-05,1793244722788425472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.764865134,745,714,680,658,634,878.235134866,786.764865134,806,652.235134866,631,651.764865134,0.402015109526,-0.00538164809576,0.0598268284118,0.999999948107,0.000154981155636,-0.000281951189392,1.64628103328e-05,1793244722805092096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,634,878.339240886,787,805.660759114,652,631,652,0.401851403506,-0.00537938004948,0.0598249994191,0.99999994523,0.000160656636728,-0.000288804028904,1.79082142606e-05,1793244722821758976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,634,878.912403512,787,805.087596488,652,631,652,0.401706464461,-0.00537638917062,0.0598261757915,0.999999943933,0.000167884759433,-0.000289097095621,1.92573131823e-05,1793244722838425600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.497650079,745,714,680,658,634,879,786.497650079,805.502349921,652,631,652,0.401584394458,-0.0053735047636,0.0598270432006,0.999999943387,0.000175236706473,-0.000286557026988,2.00687294686e-05,1793244722855092224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.907168216,652,631,652,0.401471044053,-0.00537092236589,0.0598282735995,0.999999942993,0.00018248338847,-0.000283337873957,2.07960704241e-05,1793244722871759104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.329697741,652,631,652,0.401381677128,-0.00536981636499,0.059831690009,0.999999942906,0.000189063907336,-0.000279241736987,2.15908776778e-05,1793244722888425984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.75356133,634,879,786,805,652,631,652,0.401299858538,-0.00536884065639,0.0598334304249,0.999999937512,0.000218218100225,-0.00027724672226,2.21720480807e-05,1793244722905092608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.179200119,634,879,786,805,652,631,652,0.401228084111,-0.00536803832073,0.0598329406868,0.999999922614,0.000277409852982,-0.000278047556236,2.24689434396e-05,1793244722921758976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.594077007,657.405922993,634,879,786,805.405922993,652.405922993,631,652,0.401166678567,-0.00536798506048,0.0598300645735,0.999999916667,0.000293645250229,-0.00028274076265,2.22774388331e-05,1793244722938425856
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.574824901,744.425175099,714,679.574824901,658,634.574824901,879,786,805.425175099,652.425175099,630.425175099,652,0.40107311716,-0.00536864334693,0.0598265221941,0.999999916682,0.000287869851094,-0.000288568355616,2.22422979068e-05,1793244722971758848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.847155778,744.152844222,714,679.847155778,658,634.847155778,879,786,805.152844222,652,630.152844222,651.847155778,0.401039884621,-0.00536838591093,0.0598268743893,0.999999917295,0.000286154546701,-0.000288134966001,2.24370310027e-05,1793244722988425472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.271355635,744.728644365,714,679.271355635,658,634.271355635,879,786,805.728644365,652,630.728644365,651.271355635,0.401016302824,-0.0053663854455,0.0598269660837,0.99999991708,0.000286681843135,-0.000288384105461,2.21098322026e-05,1793244723005092096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.304133723,658,634,879,786,805.695866277,652,630.695866277,651.304133723,0.400999513001,-0.00536577257637,0.0598281331847,0.999999917719,0.00028613190992,-0.000286717804782,2.19998543252e-05,1793244723021758976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.879346138,658,634,879,786,805.120653862,652,630.120653862,651.879346138,0.400988776958,-0.00536639649124,0.059830258811,0.999999919109,0.000284621826727,-0.000283344245212,2.20834884944e-05,1793244723038425856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.467298329,745,714,680,658,634,879,786.467298329,805,652,630,652,0.40097903429,-0.00536792810327,0.0598302143099,0.99999991969,0.000282218671965,-0.00028368215421,2.22903519224e-05,1793244723055092480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.942621158,745,714,679.942621158,658,634,879,786.942621158,805.057378842,652.057378842,630.057378842,652,0.400970214037,-0.0053692553935,0.0598297954451,0.999999919995,0.000280089012514,-0.000284699328621,2.24878138421e-05,1793244723071759104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.363926324,745,714,679.363926324,658,634,879,786.363926324,805.636073676,652.636073676,630.636073676,652,0.400967378788,-0.00536653733806,0.0598312087195,0.999999919794,0.000282597904157,-0.000282937493428,2.23026818924e-05,1793244723088425728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.213292231,658,634,879,786.213292231,805.786707769,652.786707769,631,652,0.400965299676,-0.00536560037161,0.0598323206157,0.999999919897,0.000283693453872,-0.00028146645354,2.23715768905e-05,1793244723105092352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.788009192,658,634,879,786.788009192,805.211990808,652.211990808,631,652,0.400964501842,-0.00536768146933,0.0598329218249,0.999999920528,0.000282394088628,-0.000280488167829,2.28709218058e-05,1793244723121758976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,652,631,652,0.400964837593,-0.00536855411204,0.0598340999571,0.999999921737,0.00028044835737,-0.000278119701073,2.29139493038e-05,1793244723138425600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,652,631,652,0.400965835854,-0.00536872048817,0.0598356152648,0.99999992327,0.000278124865579,-0.000274938760332,2.26902877462e-05,1793244723155092224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.526822069,744.473177931,714,680,658,634,879,786.473177931,805,652,631,651.473177931,0.400964713692,-0.00536839625748,0.0598353338355,0.999999923481,0.000277163886664,-0.000275181306822,2.22005126471e-05,1793244723171759104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.882604865,744.117395135,713.882604865,679.882604865,658,634,879,786,805,652.117395135,631,651.117395135,0.400963882609,-0.00536809258691,0.059835145839,0.999999923501,0.000276812379099,-0.000275492147648,2.18527590436e-05,1793244723188425728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.306014833,744.693985167,713.306014833,679.306014833,658,634,879,786,805,652.693985167,631,651.693985167,0.400965250043,-0.00536811458175,0.0598362214582,0.99999992343,0.000278163748025,-0.000274358796459,2.21935517025e-05,1793244723205092608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.269631934,679.269631934,658.269631934,634,878.730368066,786.269631934,805.269631934,652.730368066,631,652,0.400966024321,-0.00536827352317,0.0598371646051,0.999999923664,0.000278768196851,-0.000272874869547,2.23511879235e-05,1793244723221758976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.84421196,679.84421196,658.84421196,634,878.15578804,786.84421196,805.84421196,652.15578804,631,652,0.400966127754,-0.0053685873483,0.0598379579287,0.999999924243,0.000278527894797,-0.000270994448658,2.23016780777e-05,1793244723238425600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.56986234,634,878.43013766,786.56986234,805.56986234,652,631,652,0.400965847827,-0.00536845179089,0.059838037969,0.999999924297,0.000278349305313,-0.000270980349324,2.23157107094e-05,1793244723255092224
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.019922337,879,786.019922337,805.019922337,652,631,652,0.400965430837,-0.00536819616186,0.0598378709861,0.999999924187,0.00027810697991,-0.000271629885433,2.23440191635e-05,1793244723271758848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.5995507,879,786.5995507,805.5995507,652,631,652,0.400965169606,-0.00536926366361,0.0598382185183,0.999999924991,0.000275429077513,-0.000271419040796,2.2109319523e-05,1793244723288425472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.823739937,879,787,805.823739937,652,631,652,0.400964541932,-0.00536988376049,0.0598382475184,0.999999925389,0.00027382233363,-0.000271589765741,2.1962122876e-05,1793244723305092352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.253554315,879,787,805.253554315,652,631,652,0.400963095291,-0.00536950394722,0.0598375646275,0.999999924894,0.000274609533886,-0.000272613264771,2.20104876482e-05,1793244723321759232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.321360836,879,787,805.321360836,652.321360836,630.678639164,652,0.40096300263,-0.0053689322183,0.0598373721193,0.999999924357,0.000276440445726,-0.000272739481881,2.1896952377e-05,1793244723338425856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.900063305,879,787,805.900063305,652.900063305,630.099936695,652,0.40096399422,-0.0053682068058,0.0598375723034,0.999999923783,0.00027910714837,-0.000272147167091,2.16537696265e-05,1793244723355092736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.509727521,657.509727521,634.509727521,879,787,806,653,630,652,0.400963485232,-0.00536890651333,0.0598370800636,0.999999924256,0.000276932419608,-0.00027262471788,2.17365283939e-05,1793244723371759104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.080977398,657.080977398,634,879,786.919022602,806,653,630.080977398,651.919022602,0.400962895806,-0.00536966748645,0.0598367314515,0.999999924813,0.000274493444255,-0.000273035634858,2.187664925e-05,1793244723388425728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.659959426,657.659959426,634,879,786.340040574,806,653,630.659959426,651.340040574,0.400963738024,-0.00536897577774,0.0598381550198,0.999999924593,0.00027664443325,-0.000271663347386,2.19511236314e-05,1793244723405092352
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.236596208,745,714,680,658,634.236596208,879.236596208,786.236596208,806,652.763403792,631,651.236596208,0.400964155485,-0.00536933262634,0.0598387847494,0.999999924827,0.000276641100784,-0.000270787941569,2.21296561879e-05,1793244723421758976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.809895522,745,714,680,658,634.809895522,879.809895522,786.809895522,806,652.190104478,631,651.809895522,0.400963968471,-0.00537118169025,0.0598382847573,0.99999992571,0.000273571926053,-0.000270619654227,2.24562752828e-05,1793244723438425344
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab5fa20c6ba3d1b1e5b4a5f545b6f1fcf0745547
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+1,0.016666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+2,0.033333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+3,0.050000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+4,0.066666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+6,0.100000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+7,0.116666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+8,0.133333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+9,0.150000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+10,0.166666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+12,0.200000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+15,0.250000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+16,0.266666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+17,0.283333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+18,0.300000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+377,6.283333333,pose2_to_pose3_retreat,0.575714951718,-0.000122170696972,1.05005074378,0.546286585358,0.00855351676574,1.04971724144
+378,6.300000000,pose2_to_pose3_retreat,0.575700425055,-0.000122168296704,1.05005076655,0.546272057756,0.00855351581178,1.0497172591
+379,6.316666667,pose2_to_pose3_retreat,0.575689816432,-0.000122211782517,1.05005094436,0.546261450062,0.00855347511331,1.04971742747
+380,6.333333333,pose2_to_pose3_retreat,0.575682538711,-0.000122200650086,1.05005104251,0.546254172406,0.00855348644767,1.04971752522
+381,6.350000000,pose2_to_pose3_retreat,0.575677614718,-0.000122115220158,1.05005099592,0.546249246852,0.00855356699231,1.04971748926
+382,6.366666667,pose2_to_pose3_retreat,0.575674272865,-0.000122311142012,1.05005102084,0.546245907646,0.00855337987155,1.0497175095
+383,6.383333333,pose2_to_pose3_retreat,0.575672379897,-0.000122318595374,1.05005101446,0.546244014881,0.00855337317697,1.04971750497
+384,6.400000000,pose2_to_pose3_retreat,0.575671825719,-0.000122264299139,1.05005100135,0.54624346005,0.0085534253721,1.04971749487
+385,6.416666667,pose2_to_pose3_retreat,0.575671488379,-0.000122231247831,1.05005099336,0.546243122312,0.00855345714441,1.04971748872
+386,6.433333333,pose2_to_pose3_retreat,0.575671309011,-0.00012221367401,1.05005098912,0.546242942732,0.00855347403818,1.04971748545
+387,6.450000000,pose2_to_pose3_retreat,0.575671214306,-0.000122204395162,1.05005098688,0.546242847915,0.00855348295796,1.04971748372
+388,6.466666667,pose2_to_pose3_retreat,0.575671064094,-0.000122189677901,1.05005098332,0.546242697526,0.00855349710571,1.04971748099
+389,6.483333333,pose2_to_pose3_retreat,0.575671027146,-0.00012218605789,1.05005098245,0.546242660534,0.00855350058563,1.04971748031
+390,6.500000000,pose2_to_pose3_retreat,0.57567088359,-0.000122171992863,1.05005097905,0.54624251681,0.00855351410638,1.0497174777
+391,6.516666667,pose2_to_pose3_retreat,0.575670694789,-0.000122156427362,1.05005097153,0.546242327827,0.0085535290885,1.04971747097
+392,6.533333333,pose2_to_pose3_retreat,0.575670688026,-0.000122157163264,1.05005096991,0.546242321076,0.00855352839012,1.04971746928
+393,6.550000000,pose2_to_pose3_retreat,0.575670563391,-0.000122170725337,1.0500509401,0.54624219666,0.00855351551947,1.04971743812
+394,6.566666667,pose2_to_pose3_retreat,0.575670308431,-0.000122198468719,1.05005087913,0.546241942148,0.00855348919049,1.0497173744
+395,6.583333333,pose2_to_pose3_retreat,0.575670069215,-0.000122224498843,1.05005082191,0.546241703353,0.00855346448743,1.04971731461
+396,6.600000000,pose2_to_pose3_retreat,0.575669948429,-0.000122237642157,1.05005079303,0.546241582779,0.00855345201419,1.04971728442
+397,6.616666667,pose2_to_pose3_retreat,0.575669790798,-0.000122270618526,1.05005078353,0.546241425475,0.00855342009972,1.04971727363
+398,6.633333333,pose2_to_pose3_retreat,0.575669629473,-0.000122310823512,1.05005078531,0.546241264507,0.00855338105797,1.04971727426
+399,6.650000000,pose2_to_pose3_retreat,0.575669566484,-0.000122326521625,1.050050786,0.546241201656,0.00855336581405,1.04971727451
+400,6.666666667,pose2_to_pose3_retreat,0.575669491325,-0.000122344858894,1.05005078717,0.546241126659,0.0085533480051,1.0497172752
+401,6.683333333,pose2_to_pose3_retreat,0.57566949183,-0.00012234470146,1.05005078719,0.546241127163,0.0085533481578,1.04971727523
+402,6.700000000,pose2_to_pose3_retreat,0.575669501312,-0.000122341746852,1.05005078758,0.546241136616,0.00855335102356,1.04971727578
+403,6.716666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bd6ef669858246c94919895566ac7f322656d98
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58b0cdf3696e85b87b694fc30a50608e5d799c2647856eb2f9402a358c744bf4
+size 25617462
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7cb87c479ffaf52517e5e06e42924549d1867885
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+21,0.350000000,BASELINE,765,745,713.181633171,680,657.181633171,634.181633171,878.181633171,786.818366829,805.818366829,653,631,652,0.400966516373,-0.00537355401939,0.0598420351498,0.999999929349,0.000266600190312,-0.000264080143574,2.20707394787e-05,1793244723937191680
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+41,0.683333333,BASELINE,765,745,714,680,658,634,879,786,805.780450335,652.219549665,630.780450335,652,0.400964859234,-0.00537147175799,0.0598404104555,0.99999992804,0.000268984018793,-0.000266670383039,2.13035254267e-05,1793244724270525184
+42,0.700000000,BASELINE,765,744.636208118,713.636208118,679.636208118,658,634,879,786.363791882,805.636208118,652,631,652,0.400964660028,-0.00537120377654,0.0598405173397,0.999999927693,0.000270053188259,-0.000266872357416,2.15560332834e-05,1793244724287191808
+43,0.716666667,BASELINE,765,744.048251309,713.048251309,679.048251309,658,634,879,786.951748691,805.048251309,652,631,652,0.400964516263,-0.00537119243318,0.0598413425053,0.99999992741,0.000271547866229,-0.000266368354357,2.21382772913e-05,1793244724303857920
+44,0.733333333,BASELINE,765,744.533287037,713.533287037,679.533287037,658,634,879,786.466712963,805,652,631,652,0.400964650654,-0.00537126729983,0.0598418080338,0.999999927758,0.000270638789206,-0.000266017277881,2.1755178458e-05,1793244724320524800
+45,0.750000000,BASELINE,765,745,714,679.887050052,658,634,879,786.112949948,805,652.112949948,631,651.887050052,0.400964752304,-0.00537126856693,0.0598420972813,0.999999928021,0.000269933276928,-0.000265773836738,2.14159087746e-05,1793244724337191680
+46,0.766666667,BASELINE,765,745,714,679.312704305,658,634,879,786.687295695,805,652.687295695,631,651.312704305,0.400964618625,-0.00537093769837,0.0598417977709,0.999999927708,0.000270937188099,-0.000265914231546,2.16082300435e-05,1793244724353858304
+47,0.783333333,BASELINE,765,745,714,679.26739073,658,634.26739073,878.73260927,786.73260927,805.26739073,652.73260927,631,651.26739073,0.400965046518,-0.00537113428721,0.0598421672009,0.999999927974,0.000270489029993,-0.000265355593804,2.17810361111e-05,1793244724370524672
+48,0.800000000,BASELINE,765,745,714,679.85435718,658,634.85435718,878.14564282,786.14564282,805.85435718,652.14564282,631,651.85435718,0.400966145581,-0.005371961274,0.059843336124,0.999999928928,0.000268305411381,-0.00026396149768,2.19305183423e-05,1793244724387191296
+49,0.816666667,BASELINE,765,745,714,680,658,634.563847954,878.436152046,786,806,652,631,652,0.400965567261,-0.0053720203522,0.0598429924883,0.9999999287,0.000268997699735,-0.000264124531762,2.18886468056e-05,1793244724403858176
+50,0.833333333,BASELINE,765,745,713.983833888,680,658,634,879,786.016166112,806,652,631,652,0.400964426716,-0.00537183977073,0.0598421392856,0.999999928085,0.000270580659497,-0.000264840962907,2.17893118792e-05,1793244724420524800
+51,0.850000000,BASELINE,765,745,713.406391483,680,658,634,879,786.593608517,806,652,631,652,0.400962985337,-0.00537213694835,0.0598409249257,0.999999927648,0.000270135419984,-0.000266929601535,2.18873895213e-05,1793244724437191168
+52,0.866666667,BASELINE,765,745,713.170333686,680,658,634,879,786.829666314,805.829666314,652,631,652,0.400963094945,-0.00537232185943,0.0598410133073,0.99999992788,0.000269347163234,-0.000266852432856,2.19490245067e-05,1793244724453857792
+53,0.883333333,BASELINE,765,745,713.745354775,680,658,634,879,786.254645225,805.254645225,652,631,652,0.400966889467,-0.00537224004194,0.0598441968081,0.999999929691,0.00026774394877,-0.00026162962927,2.19240771749e-05,1793244724470524416
+54,0.900000000,BASELINE,765,744.671340718,714,680.328659282,658,634,878.671340718,786,805,652.328659282,630.671340718,652,0.400967024771,-0.00537337938092,0.0598442365553,0.999999930006,0.000266725414946,-0.000261450311004,2.21071096476e-05,1793244724487191040
+55,0.916666667,BASELINE,765,744.081452309,714,680.918547691,658,634,878.081452309,786,805,652.918547691,630.081452309,652,0.400964251607,-0.00537548933495,0.0598417775442,0.999999929138,0.000266171604464,-0.000265279719783,2.24554512604e-05,1793244724503857920
+56,0.933333333,BASELINE,765,744.499466402,714,680.500533598,658,634,878,786.499466402,805,653,630.499466402,652,0.400964857204,-0.00537416326722,0.0598421570847,0.999999928916,0.000267787797585,-0.000264508229624,2.21835705143e-05,1793244724520524800
+57,0.950000000,BASELINE,765,745,714,680,658,634,878.078205532,786.921794468,805,652.921794468,630.921794468,652,0.400965782046,-0.00537244628346,0.0598428100734,0.999999928843,0.000269275166107,-0.000263299435134,2.18555840406e-05,1793244724537191424
+58,0.966666667,BASELINE,765,745,714,680,658,634,878.652236179,786.347763821,805,652.347763821,630.347763821,652,0.40096529916,-0.00537174079069,0.0598423136623,0.999999929074,0.00026774174726,-0.000263991174016,2.18018350933e-05,1793244724553858048
+59,0.983333333,BASELINE,765,745,714,680,657.772813671,634.227186329,879,786,805.227186329,652.227186329,630,652,0.400964839044,-0.00537149276194,0.0598421083464,0.999999929162,0.000267124257151,-0.000264288686836,2.1736930877e-05,1793244724570524672
+60,1.000000000,BASELINE,765,745,714,680,657.196450191,634.803549809,879,786,805.803549809,652.803549809,630,652,0.400964413925,-0.00537194783867,0.0598423504331,0.999999929034,0.00026791451607,-0.000263980288598,2.16548814088e-05,1793244724587191296
+61,1.016666667,BASELINE,765,745,714,679.610030751,657.389969249,634.610030751,879,786,805.610030751,653,630.389969249,652,0.400964825516,-0.00537214836043,0.0598425790927,0.999999929277,0.000267221358585,-0.000263767456003,2.1554398868e-05,1793244724603857920
+62,1.033333333,BASELINE,765,745,714,679.018411488,657.981588512,634.018411488,879,786,805.018411488,653,630.981588512,652,0.400965669765,-0.0053722172538,0.0598428008093,0.999999929712,0.00026576113816,-0.000263604039662,2.14443847362e-05,1793244724620524544
+63,1.050000000,BASELINE,765,745,714,679.559806912,658,634,879,786,805,652.440193088,631,652,0.400965313409,-0.00537161484124,0.0598429658638,0.999999929119,0.000267807554832,-0.000263779668563,2.14584479665e-05,1793244724637191424
+64,1.066666667,BASELINE,765,745,714,680,658,634,878.863477302,786.136522698,805,652,631,652,0.400965072275,-0.0053712968093,0.0598431114679,0.999999928832,0.00026886363366,-0.000263789722547,2.15193652662e-05,1793244724653858048
+65,1.083333333,BASELINE,765,745,714,680,658,634,878.290191648,786.709808352,805,652,631,652,0.400965323136,-0.00537195754935,0.0598432006684,0.999999929636,0.000266391090116,-0.000263235230027,2.17174279428e-05,1793244724670524928
+66,1.100000000,BASELINE,765,745,714,679.715652598,658,634,878.284347402,787,805,652,631,652,0.400965690974,-0.00537195212805,0.0598432189971,0.999999929664,0.000266674201173,-0.000262828048196,2.18513547461e-05,1793244724687191808
+67,1.116666667,BASELINE,765,745,714,679.139828762,658,634,878.860171238,787,805,652,631,652,0.400966178725,-0.00537126384366,0.059843164677,0.999999928897,0.000269782055538,-0.000262571870399,2.19195376775e-05,1793244724703858176
+68,1.133333333,BASELINE,765,745,713.553607249,679.446392751,658,634,878.553607249,786.553607249,805,652.446392751,631,652,0.400967349237,-0.00537158893109,0.0598439500343,0.999999929177,0.000269793965859,-0.000261494091634,2.18422940583e-05,1793244724720524544
+69,1.150000000,BASELINE,765,744.964512423,713.035487577,680,658,634,878.035487577,786,805.035487577,653,631,651.964512423,0.40096854914,-0.00537222110467,0.0598448642868,0.999999929695,0.000268992722577,-0.000260345284868,2.17469665338e-05,1793244724737191168
+70,1.166666667,BASELINE,765,744.382522933,713.617477067,680,658,634,878.617477067,786,805.617477067,653,631,651.382522933,0.400966829549,-0.00537257740294,0.0598436164142,0.999999928682,0.000270959629531,-0.000262160467458,2.20913977271e-05,1793244724753858048
+71,1.183333333,BASELINE,765,744.19652388,714,679.80347612,658,634,879,786,805.80347612,653,631,651.19652388,0.400965266705,-0.00537280474228,0.0598426044603,0.999999928155,0.000271323560114,-0.000263779814234,2.22064620994e-05,1793244724770524672
+72,1.200000000,BASELINE,765,744.769927534,714,679.230072466,658,634,879,786,805.230072466,653,631,651.769927534,0.400964004462,-0.00537278477325,0.0598420449346,0.999999928565,0.000268613414906,-0.000265023601079,2.18816628605e-05,1793244724787191552
+73,1.216666667,BASELINE,765.343400302,745,714,679.343400302,658,634,878.656599698,786,805,653,631,652,0.40096418348,-0.00537315001783,0.0598421319058,0.999999928892,0.000267510849124,-0.000264912347891,2.18250716867e-05,1793244724803857920
+74,1.233333333,BASELINE,765.916919351,745,714,679.916919351,658,634,878.083080649,786,805,653,631,652,0.400965328312,-0.00537377340102,0.0598426521065,0.999999929165,0.000267485551523,-0.000263893057824,2.19482116021e-05,1793244724820524544
+75,1.250000000,BASELINE,765.489675612,744.489675612,714,680,658,634,878,786.510324388,805.510324388,652.489675612,631,652,0.400966171734,-0.00537262790544,0.0598434258736,0.999999929331,0.000268210731166,-0.000262544861847,2.17041627244e-05,1793244724837191424
+76,1.266666667,BASELINE,765,744.102797326,714,680,658,634,878.102797326,787,806,652,631,652,0.400966718807,-0.00537143169909,0.059844073305,0.999999929435,0.000268870017246,-0.000261491645514,2.14819329231e-05,1793244724853858304
+77,1.283333333,BASELINE,765,744.675606069,714,680,658,634,878.675606069,787,806,652,631,652,0.400966144362,-0.00537137369375,0.0598439467058,0.999999929347,0.000268646751653,-0.000262041889074,2.16438658197e-05,1793244724870524928
+78,1.300000000,BASELINE,765.249611992,745,714,680,658,634,879,786.750388008,806.249611992,652,631,652,0.400965985398,-0.00537131501631,0.0598438120932,0.999999929201,0.000268971630614,-0.00026226129374,2.16971641976e-05,1793244724887191552
+79,1.316666667,BASELINE,765.825181213,745,714,680,658,634,879,786.174818787,806.825181213,652,631,652,0.400966368992,-0.00537125546122,0.0598436670162,0.999999928978,0.000270012307253,-0.000262048670521,2.16086015627e-05,1793244724903858176
+80,1.333333333,BASELINE,765.586105,745,714,680,658,634,879,786,806.17221,652,630.586105,652,0.400965969331,-0.00537188905668,0.0598434315999,0.999999928757,0.00027029740519,-0.000262582468931,2.18236052847e-05,1793244724920524544
+81,1.350000000,BASELINE,765,745,714,680,658,634,879,786,805,652,630.008051035,652,0.40096525279,-0.00537281453945,0.0598431625791,0.999999928546,0.000270234903375,-0.000263419394582,2.21656944878e-05,1793244724937191168
+82,1.366666667,BASELINE,765,745,714,680,658,634,879,786,805,652,630.581704805,652,0.40096627829,-0.00537300343904,0.0598433013108,0.9999999291,0.000268908232529,-0.000262676821717,2.2132716801e-05,1793244724953857792
+83,1.383333333,BASELINE,765,745,714,679.844282345,658,634,878.844282345,786.155717655,805.155717655,652,631,652,0.40096733732,-0.00537291301972,0.0598437231248,0.999999929662,0.000267738735832,-0.000261738407703,2.20140848041e-05,1793244724970524672
+84,1.400000000,BASELINE,765,745,714,679.269302563,658,634,878.269302563,786.730697437,805.730697437,652,631,652,0.400968486628,-0.00537207054801,0.059844907124,0.999999930252,0.00026699242251,-0.000260272700863,2.16648327814e-05,1793244724987191296
+85,1.416666667,BASELINE,765,745,714,679,658,634,878.314843646,786.685156354,806,652,631,652,0.400967099111,-0.00537200456298,0.0598444184139,0.999999929949,0.000267068454243,-0.000261368389028,2.15007803303e-05,1793244725003857920
+86,1.433333333,BASELINE,765,745,714,679,658,634,878.907065468,786.092934532,806,652,631,652,0.400963476642,-0.00537262266505,0.0598424560417,0.999999928853,0.000267868974425,-0.000264720673795,2.14998892656e-05,1793244725020524544
+87,1.450000000,BASELINE,765.48852557,744.51147443,714,679.48852557,658,634,879,786,805.51147443,652,631,652,0.400964709614,-0.00537334320754,0.0598427137478,0.999999929306,0.000267487522031,-0.0002633926998,2.14953139224e-05,1793244725037190912
+88,1.466666667,BASELINE,766,744.067043027,714,680,658,634,879,786,805,652,631,652,0.400966468807,-0.0053738740351,0.059843333831,0.999999929872,0.000267184470921,-0.000261544726711,2.15279194754e-05,1793244725053857536
+89,1.483333333,BASELINE,766,744.638491926,714,680,658,634,879,786,805,652,631,652,0.400965387516,-0.00537283406277,0.0598435712942,0.999999929136,0.000269126519077,-0.000262338730743,2.18454192224e-05,1793244725070524160
+90,1.500000000,BASELINE,765.788329299,745,714,680,658,634,879,786.211670701,805,652,630.788329299,652,0.400965254543,-0.00537180447735,0.0598439822968,0.999999928713,0.000270663058127,-0.000262359882896,2.19877183794e-05,1793244725087191040
+91,1.516666667,BASELINE,765.21217182,745,714,680,658,634,879,786.78782818,805,652,630.21217182,652,0.400966754531,-0.00537079277777,0.0598446921256,0.999999928832,0.000271501329782,-0.00026105022116,2.18283305046e-05,1793244725103857920
+92,1.533333333,BASELINE,765,745,714,680,658,634.375413748,878.624586252,787,805.375413748,652.375413748,630.375413748,652,0.40096653097,-0.00537101761484,0.0598439574416,0.999999928953,0.000270640453241,-0.000261484904129,2.17474900968e-05,1793244725120524800
+93,1.550000000,BASELINE,765,745,714,680,658,634.969660948,878.030339052,787,805.969660948,652.969660948,630.969660948,652,0.400965302729,-0.00537196324475,0.0598423807326,0.999999929073,0.000268789121665,-0.000262936387706,2.17124359923e-05,1793244725137191424
+94,1.566666667,BASELINE,765,745,714,680,658,634.453879905,878.546120095,786.453879905,805.453879905,652.453879905,631,652,0.40096544102,-0.00537131705914,0.0598427180984,0.999999929103,0.000268126452021,-0.000263518601419,2.14708218893e-05,1793244725153858304
+95,1.583333333,BASELINE,765,745,714,680,658,634,878.878573358,786.121426642,805.121426642,652,631,652,0.400966005722,-0.00537090856737,0.0598433046254,0.999999929303,0.000267661883459,-0.000263243221046,2.13106804058e-05,1793244725170524928
+96,1.600000000,BASELINE,765,745,714,680,658,634,878.303996521,786.696003479,805.696003479,652,631,652,0.400967887365,-0.00537170672703,0.059844436684,0.999999930153,0.000267697944762,-0.000259941931355,2.14960584994e-05,1793244725187191296
+97,1.616666667,BASELINE,765,745,714,679.721376584,658,634,878.278623416,787,805.721376584,652,630.721376584,652,0.400967855769,-0.00537244125113,0.0598444292128,0.99999993045,0.000267077521561,-0.000259428878794,2.15942277713e-05,1793244725203857920
+98,1.633333333,BASELINE,765,745,714,679.129720273,658,634,878.870279727,787,805.129720273,652,630.129720273,652,0.400965674654,-0.00537310428073,0.0598431414818,0.999999930129,0.000265719539228,-0.000262048405703,2.15944180819e-05,1793244725220524544
+99,1.650000000,BASELINE,765,745,714,679.451122101,658,634,879,787,805.451122101,652.451122101,630,652,0.400965759512,-0.00537387832008,0.0598432113249,0.999999929921,0.000266311659074,-0.000262217223838,2.18611624566e-05,1793244725237191168
+100,1.666666667,BASELINE,765,745,714,680,658,634,878.971300548,786.971300548,805.971300548,653,630,651.971300548,0.400966464905,-0.00537457646556,0.0598436973217,0.99999992977,0.000267392432879,-0.000261668485629,2.21653015334e-05,1793244725253857792
+101,1.683333333,BASELINE,765,745,714,680,658,634,878.398054232,786.398054232,805.398054232,653,630,651.398054232,0.400966870628,-0.00537324309993,0.059844845924,0.999999930078,0.000267354280752,-0.000260562828027,2.17586955449e-05,1793244725270524672
+102,1.700000000,BASELINE,765,745,714,680,658,634,878,786,805,652.824077707,630.175922293,651.175922293,0.400967209277,-0.00537241168678,0.0598454349767,0.999999930292,0.000267348673979,-0.000259762854894,2.15428015961e-05,1793244725287191552
+103,1.716666667,BASELINE,765,745,714,680,658,634,878,786,805,652.248442149,630.751557851,651.751557851,0.400967395524,-0.00537272076063,0.0598447526755,0.999999930296,0.000267417013549,-0.000259657427982,2.17602247686e-05,1793244725303858176
+104,1.733333333,BASELINE,765,744.662643209,714,680,658,634.337356791,878.337356791,786,805,652,631,651.662643209,0.400967683457,-0.00537267009908,0.059844630756,0.999999930197,0.000267625793725,-0.000259821367712,2.17993689139e-05,1793244725320524800
+105,1.750000000,BASELINE,765,744.069127019,714,680,658,634.930872981,878.930872981,786,805,652,631,651.069127019,0.400968048602,-0.00537234628578,0.0598449343413,0.999999930019,0.000267941212285,-0.000260189841025,2.17031434988e-05,1793244725337191424
+106,1.766666667,BASELINE,765,744.510752514,714,680,657.489247486,634.489247486,878.489247486,786,805,652,631,651.510752514,0.400967202038,-0.00537139871417,0.0598446984285,0.999999929412,0.000269753408158,-0.000260646452035,2.17312424512e-05,1793244725353857792
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634,879,786,805,652,631,652,0.400965471066,-0.00537526540889,0.059843604326,0.999999930785,0.000262337177937,-0.000262949260797,2.16251260536e-05,1793244725396834048
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.427803588,745,714,680,658,634,879,786,805.572196412,652,631,652,0.40096630392,-0.00537473462523,0.0598436880534,0.99999993099,0.000262815476979,-0.000261689023308,2.1591699888e-05,1793244725413500672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.85004439,714,680,658,634,879,786,806,652.14995561,630.85004439,652,0.400966943568,-0.00537400475794,0.0598438226865,0.999999930938,0.000263901968431,-0.000260790671747,2.16096683398e-05,1793244725430167552
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.255803758,714,680,658,634,879,786,806,652.744196242,630.255803758,652,0.400967010792,-0.00537268505015,0.0598441081416,0.999999930123,0.000266790398436,-0.000260964507168,2.17799075702e-05,1793244725446834176
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.32796955,714,680,658,634.32796955,879,786,806,652.67203045,630.32796955,652,0.400967118437,-0.00537231012045,0.059844680555,0.99999993003,0.000267712749959,-0.000260369644565,2.18557482861e-05,1793244725463500800
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.903831214,714,680,658,634.903831214,879,786,806,652.096168786,630.903831214,652,0.400967256635,-0.00537264929077,0.0598454698625,0.999999930486,0.000267149062896,-0.000259193770158,2.18602389314e-05,1793244725480167424
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.5197693,714,680,658,634.5197693,879.4802307,786.4802307,806,652,630.5197693,652,0.400967397392,-0.00537247948659,0.0598449479022,0.999999930235,0.000267391364558,-0.000259917617355,2.17730886444e-05,1793244725496834048
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.058001246,744,714,680,657.941998754,634,879.883997508,786.941998754,805.941998754,652,630.058001246,651.941998754,0.400967886515,-0.00537232539003,0.0598443783344,0.999999929944,0.000267680841947,-0.000260743156986,2.17267798407e-05,1793244725513500672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.647344163,744,714,680,657.352655837,634,878.705311675,786.352655837,805.352655837,652,630.647344163,651.352655837,0.400971562265,-0.00537324995607,0.0598457808753,0.999999930586,0.000266922235421,-0.000259011316307,2.22229193653e-05,1793244725530167296
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.7673764,744.2326236,714,680,657.2326236,634,878,786.2326236,805.2326236,652,631,651.2326236,0.400983199692,-0.00537371572891,0.0598505647978,0.999999932633,0.000266781163114,-0.000251099399228,2.2585557795e-05,1793244725546833920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.188151463,744.811848537,714,680,657.811848537,634,878,786.811848537,805.811848537,652,631,651.811848537,0.401006699748,-0.00537349791523,0.0598603868653,0.999999936574,0.000267560196031,-0.000233979376333,2.27492840356e-05,1793244725563500800
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.611824272,658,634,878,787,806,652.388175728,630.611824272,652,0.401052104787,-0.00537428636997,0.0598782068289,0.999999943593,0.00026686591774,-0.000202616811104,2.33088503753e-05,1793244725580167424
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.036891179,658,634,878,787,806,652.963108821,630.036891179,652,0.401108048656,-0.00537555895602,0.0598998747054,0.999999950961,0.000265462806343,-0.000164401936091,2.40588615147e-05,1793244725596834048
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.537503592,658,634,878,787,805.462496408,652.462496408,630,652,0.401176947133,-0.00537955212421,0.0599170781285,0.999999954951,0.000263458030856,-0.000141571322841,2.54226523742e-05,1793244725613500928
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.115406653,878.115406653,786.884593347,805.115406653,652,630.115406653,651.884593347,0.401250012989,-0.00538341814342,0.0599321708436,0.999999958233,0.000261075402562,-0.000121135961107,2.64682871074e-05,1793244725630167552
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.707967697,878.707967697,786.292032303,805.707967697,652,630.707967697,651.292032303,0.401336636625,-0.00538598720823,0.0599398023581,0.999999960916,0.000257301087768,-0.000106242624281,2.60244912995e-05,1793244725646833920
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.706461203,879,786,806,652,631,651.293538797,0.40142977826,-0.00538836380927,0.0599444525302,0.999999962258,0.000255675142442,-9.72898873721e-05,2.54713173562e-05,1793244725663500288
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.127682462,879,786,806,652,631,651.872317538,0.401529253613,-0.00539055338765,0.0599462056474,0.999999962461,0.000256136828697,-9.41098001638e-05,2.48118576189e-05,1793244725680166912
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.552556017,713.552556017,680,658,634,879,786,805.552556017,652,630.552556017,652,0.401650254389,-0.00539239702385,0.0599490048672,0.999999963309,0.000255359994173,-8.72115967478e-05,2.38379730386e-05,1793244725696833792
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.021658421,713.021658421,680,658,634,879,786,805.021658421,652,630.021658421,652,0.401778186754,-0.00539421833905,0.0599518756013,0.999999964272,0.000254172623429,-7.95915637981e-05,2.27422033843e-05,1793244725713500928
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.598997377,713.598997377,680,658,634,879,786,805.598997377,652,630.598997377,652,0.401927640768,-0.0053979792311,0.0599489842733,0.999999964935,0.000251446530173,-8.04530843941e-05,2.0802656939e-05,1793244725730167552
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818950005,714,679.818950005,658,634,878.818950005,786.181049995,805.818950005,652,631,652,0.40208894519,-0.0054020978512,0.0599468778137,0.999999965744,0.000248654972441,-7.95360945899e-05,1.89011047981e-05,1793244725746834432
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.226178231,714,679.226178231,658,634,878.226178231,786.773821769,805.226178231,652,631,652,0.402277198342,-0.00540702997224,0.0599465562065,0.999999966886,0.000245714543769,-7.45746335963e-05,1.70859549276e-05,1793244725763500800
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.355366093,744.355366093,714,679.355366093,658,634,878,786.644633907,805.355366093,652,631,652,0.402486932789,-0.00541242608147,0.0599472710346,0.999999968379,0.00024146227322,-6.86273410029e-05,1.51097440486e-05,1793244725780167424
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.929983441,744.929983441,714,679.929983441,658,634,878,786.070016559,805.929983441,652,631,652,0.402709920631,-0.00541810845933,0.0599486253151,0.999999970046,0.000236400631466,-6.20718165263e-05,1.30341627125e-05,1793244725796834048
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.494434596,745,714,680,658,634.505565404,879.011130809,786,806,652.505565404,631,652,0.402970122486,-0.00542517303741,0.0599503918313,0.99999997281,0.000226616438796,-5.39565611812e-05,1.06746958169e-05,1793244725813500672
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.083085541,745,714,680,658,635,879.916914459,786.083085541,806,652.916914459,631,652,0.403238411712,-0.00543238089694,0.0599519208671,0.999999975389,0.000216720212015,-4.67546119372e-05,8.24614546639e-06,1793244725830167552
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.671581669,745,714,680,658,635,879.328418331,786.671581669,806,652.328418331,631,652,0.40352448591,-0.0054392936871,0.0599516573568,0.999999976829,0.000210128577501,-4.6424815431e-05,5.63697398243e-06,1793244725846834176
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.743478588,745,714,680,658,634.743478588,879,786.743478588,806,652.256521412,630.743478588,652,0.40383052894,-0.00544674749689,0.0599458405985,0.999999978148,0.000201679391214,-5.50008966022e-05,2.29489519999e-06,1793244725863500800
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.163029772,745,714,680,658,634.163029772,879,786.163029772,806,652.836970228,630.163029772,652,0.404161787984,-0.00545488448931,0.0599330113683,0.99999997898,0.000190884545617,-7.48230480638e-05,-1.97267637566e-06,1793244725880167424
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.412942614,879,786,805.587057386,652.587057386,630,652,0.404506491253,-0.00546345360616,0.0599188565337,0.999999978713,0.000180161381454,-0.000100405931092,-5.92262480862e-06,1793244725896834048
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.987166644,879,786,805.012833356,652.012833356,630,652,0.404856445373,-0.00547219149601,0.0599041839631,0.99999997737,0.00016946621377,-0.000128238760461,-9.7485202828e-06,1793244725913500672
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.56271939,658,635,879,786.56271939,805.56271939,652,630.56271939,652,0.405273548201,-0.00547957585991,0.0599024960759,0.999999978303,0.00015917214548,-0.000133640158953,-1.40605085054e-05,1793244725930167040
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.141942327,745,714,680.858057673,658,634.858057673,879,787,805.858057673,652,630.858057673,652,0.405709116482,-0.00548853020041,0.0599074955185,0.999999982338,0.000136997741106,-0.000127444525053,-1.77060006349e-05,1793244725946833408
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.732673409,745,714,680.267326591,658,634.267326591,879,787,805.267326591,652,630.267326591,652,0.4061982148,-0.00550254627177,0.0599327002446,0.999999993118,7.72314770546e-05,-8.6203054872e-05,-1.92090518965e-05,1793244725963500288
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.683779419,745,714,680,658.316220581,634.316220581,879,787,805,652,630.316220581,652,0.406729369736,-0.00551104970625,0.0599617797597,0.999999999045,1.10952747258e-05,-3.661551125e-05,-2.11364490938e-05,1793244725980167168
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.106170413,745,714,680,658.893829587,634.893829587,879,787,805,652,630.893829587,652,0.407295288793,-0.00551499638803,0.0599940621841,0.99999999771,-6.03063350128e-05,1.98709142608e-05,-2.34146113963e-05,1793244725996834304
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.530924765,879.469075235,787,805.469075235,652,631,652,0.407834312826,-0.00550255405692,0.0600010064843,0.99999999825,-4.80258244892e-05,2.22995638038e-05,-2.63958561775e-05,1793244726013500928
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.044813014,745,714,680,658.955186986,634,879.955186986,786.955186986,806,652,631,652,0.408368650121,-0.00548753390504,0.0600010211938,0.999999999328,-1.86374920147e-05,1.07713266679e-05,-2.96912639607e-05,1793244726030167552
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.632971458,745,714,680,658.367028542,634,879.367028542,786.367028542,806,652,631,652,0.408919600655,-0.00548600940517,0.0599862035606,0.999999999088,-1.0319782965e-05,-2.23728219615e-05,-3.4876011534e-05,1793244726046833920
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.780854638,745,714,680,658.219145362,634,879,786,805.780854638,652,630.780854638,652,0.409506396526,-0.0054909086127,0.0599766583508,0.999999998131,-1.48367347209e-05,-4.42570813879e-05,-3.94905071229e-05,1793244726063500544
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.197974683,745,714,680,658.802025317,634,879,786,805.197974683,652,630.197974683,652,0.410152687984,-0.00550646980546,0.059975864241,0.999999997116,-4.06564883678e-05,-4.74523226818e-05,-4.31585056878e-05,1793244726080167168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.620000592,714,680,659,634,879,786.379999408,805,652,630.379999408,652,0.410844764393,-0.00551744714553,0.0599830443189,0.999999996438,-6.43151155438e-05,-2.81126474291e-05,-4.68680792589e-05,1793244726096833792
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.044549832,714,680,659,634,879,786.955450168,805,652,630.955450168,652,0.41156039011,-0.00552606679671,0.0599943258922,0.999999994943,-8.68621741e-05,2.81778258607e-06,-5.05990366274e-05,1793244726113500416
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.5258262,714,680.5258262,659,634,879,786.4741738,805.5258262,652,631,651.4741738,0.412239452722,-0.00552622506273,0.0599833711646,0.999999999071,-2.44186399569e-05,-1.81986527339e-05,-3.04886423331e-05,1793244726130167552
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.899869328,659,634,879.100130672,786.100130672,805.899869328,652,631,651.100130672,0.412913065013,-0.0055235696028,0.0599655235197,0.999999997968,3.16671812724e-05,-5.36443590057e-05,-1.3543211133e-05,1793244726146834432
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.304007694,659,634,879.695992306,786.695992306,805.304007694,652,631,651.695992306,0.413574883307,-0.005510499059,0.0599227880626,0.999999989881,2.0968207719e-05,-0.00013894610865,-2.21717381651e-05,1793244726163500800
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680.282746167,659,634,880,786.717253833,805.282746167,652,631,652,0.414320134749,-0.00550736926799,0.0599138379939,0.999999987344,1.18101293001e-05,-0.000156077144687,-2.8496161901e-05,1793244726180167424
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680.860013049,659,634,880,786.139986951,805.860013049,652,631,652,0.41515229387,-0.00551459419617,0.059940080251,0.999999994243,4.25711309208e-06,-0.000102198609301,-3.2420532493e-05,1793244726196834048
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.564004542,634,879.564004542,786,806,652,631,652,0.416018637917,-0.00552522506171,0.0599823030986,0.999999998982,-1.04495475764e-05,-3.04728732056e-05,-3.1582678162e-05,1793244726213500672
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.011833994,745.011833994,714,680.988166006,658.011833994,634,879,786,805.988166006,652,631,651.988166006,0.416894441095,-0.00553671818116,0.0600284840359,0.999999998187,-2.71921068899e-05,4.50499339082e-05,-2.92779380832e-05,1793244726230167040
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.600709449,745.600709449,714,680.399290551,658.600709449,634,879,786,805.399290551,652,631,651.399290551,0.417697859165,-0.00553708921852,0.0600182094235,0.999999998691,-3.15392852006e-05,2.7127951596e-05,-2.97843409703e-05,1793244726246833664
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.813522871,745.813522871,714,680,659,634,879.186477129,786,805,652,631,651.186477129,0.418513797394,-0.00553622469288,0.0600044615761,0.99999999895,-3.31730544514e-05,4.81714203079e-06,-3.12519048021e-05,1793244726263500288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.234300606,745.234300606,714,680,659,634,879.765699394,786,805,652,631,651.765699394,0.419356104661,-0.00553275791053,0.0599833986439,0.999999998616,-2.90920303255e-05,-2.6737108634e-05,-3.47437988166e-05,1793244726280166912
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.660229799,786,805,652,631,652,0.420192195031,-0.00553074693064,0.0599575611327,0.999999996862,-2.66205695367e-05,-6.43241481172e-05,-3.77994594629e-05,1793244726296834048
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.089658332,786,805,652,631,652,0.421024062315,-0.00552972485768,0.0599284803158,0.99999999324,-2.52424633255e-05,-0.000106009177464,-4.05587925516e-05,1793244726313500928
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.489833816,745,714,680.489833816,659,634,879,786.489833816,805.489833816,652,631,652,0.421883732597,-0.00552897276585,0.0598976173274,0.999999984579,-2.9318017247e-05,-0.000167974871091,-4.20230793537e-05,1793244726330167552
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.928169454,745,714,681,659,634,879,786.928169454,806,652,631,652,0.422761982844,-0.0055294427348,0.0598775213625,0.999999975931,-3.55889734323e-05,-0.000212183848014,-4.3004230556e-05,1793244726346834176
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.340125767,745,714,681,659,634,879,786.340125767,806,652,631,652,0.423736507527,-0.00553833336945,0.0599371908407,0.999999992679,-5.03303952419e-05,-0.000101611147757,-4.22484269865e-05,1793244726363500544
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.755176708,659,634,879.244823292,786,806,652,631,652,0.424701428674,-0.00554428204013,0.059990455887,0.999999997465,-5.75090672146e-05,-9.77334135197e-06,-4.08409079228e-05,1793244726380167424
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.174473174,659,634,879.825526826,786,806,652,631,652,0.425653174584,-0.00554619454557,0.0600349345145,0.999999996194,-5.43121839362e-05,5.63615304345e-05,-3.85392816272e-05,1793244726396834048
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.398563017,744.601436983,714,680.398563017,659,634,879.601436983,786.398563017,806,652,631,652,0.426575151825,-0.00554559544322,0.0600355323404,0.999999995647,-5.25737008264e-05,6.60438995948e-05,-3.9740810252e-05,1793244726413500416
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.968306102,744.031693898,714,680.968306102,659,634,879.031693898,786.968306102,806,652,631,652,0.42748434357,-0.00554391762252,0.0600172836617,0.99999999645,-5.14615907853e-05,5.14803040375e-05,-4.244691995e-05,1793244726430167040
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.453799525,744.546200475,714,681,659.546200475,634,879,787,806,652,631,652,0.428396133561,-0.00554636096079,0.0599912799509,0.999999997107,-6.01332588789e-05,1.24553387925e-05,-4.48817408257e-05,1793244726446833920
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.127890311,744.872109689,713.872109689,680.872109689,659.872109689,634,879,786.872109689,806,652,631,652,0.429289875003,-0.00554799664132,0.0599626839671,0.999999996229,-6.46831512207e-05,-3.40959111197e-05,-4.68463476784e-05,1793244726463500800
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.721657071,744.278342929,713.278342929,680.278342929,659.278342929,634,879,786.278342929,806,652,631,652,0.430117311955,-0.00554580588787,0.0599263089662,0.999999992245,-5.21189239273e-05,-0.000102814877967,-4.71562804453e-05,1793244726480167424
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.692528313,744.307471687,713.307471687,680.307471687,659.307471687,634,879,786.307471687,806,652,630.692528313,651.692528313,0.431014364987,-0.00554457069833,0.0599234391404,0.999999991841,-5.6728126479e-05,-0.000103861811556,-4.80982017427e-05,1793244726496834048
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113731025,744.886268975,713.886268975,680.886268975,659.886268975,634,879,786.886268975,806,652,630.113731025,651.113731025,0.431972850052,-0.00554417873762,0.0599501356541,0.999999994823,-7.64918670396e-05,-4.51921698162e-05,-4.95978155769e-05,1793244726513500672
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.461497362,786.538502638,806,652,630.461497362,651.461497362,0.432909183511,-0.00554733524468,0.0599871425386,0.999999996047,-7.34600574313e-05,1.23614363711e-05,-4.85527216189e-05,1793244726530167040
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.036691338,714,681,659.963308662,634,880.036691338,786,806,652,631,652,0.433835760179,-0.00555108850032,0.0600228769869,0.999999994724,-6.5352445511e-05,6.3741577484e-05,-4.71032084086e-05,1793244726546833920
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.624476539,714,681,659.375523461,634,880.624476539,786,806,652,631,652,0.434697155294,-0.0055507710735,0.0600016293002,0.999999996357,-6.47367444751e-05,2.64971465524e-05,-4.89262561301e-05,1793244726563500544
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.209141571,745.790858429,714,681,659.209141571,634,880.790858429,786,806,652,631,652,0.435545356328,-0.00555188400796,0.0599763855713,0.99999999594,-7.20209273552e-05,-1.89246989093e-05,-5.07331501549e-05,1793244726580167424
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.788286643,745.211713357,714,681,659.788286643,634,880.211713357,786,806,652,631,652,0.436370215152,-0.00555552747079,0.0599440722274,0.999999991165,-9.32812158284e-05,-7.88136504641e-05,-5.25114660778e-05,1793244726596834048
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634123885,745,714,681,660,634,880,786.365876115,806,652,631,652,0.43717126921,-0.00555466271007,0.0599239159054,0.999999987566,-9.14447673902e-05,-0.000116717582724,-5.36976045866e-05,1793244726613500672
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.057430781,745,714,681,660,634,880,786.942569219,806,652,631,652,0.437958606966,-0.00555120032094,0.0599107644339,0.999999985526,-7.630003025e-05,-0.000141953793121,-5.45425317499e-05,1793244726630167296
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.518953307,745,714,681.518953307,659.481046693,634,880,786.481046693,806,651.481046693,631,652,0.438765273189,-0.00555033309664,0.0599091162244,0.999999984735,-7.44775126238e-05,-0.000148117468318,-5.51695767547e-05,1793244726646833920
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902773014,745,713.902773014,681.902773014,659,634,880,786.097226986,806.097226986,651,631,652,0.439577432044,-0.00555038690218,0.0599158191593,0.999999985662,-7.59448774186e-05,-0.000140822319006,-5.54793406836e-05,1793244726663500544
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.314789047,745,713.314789047,681.314789047,659,634,880,786.685210953,806.685210953,651,631,652,0.440406524819,-0.00555364086137,0.0599582529921,0.999999991871,-8.65807705953e-05,-7.62406905313e-05,-5.43092511152e-05,1793244726680167168
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.269394053,681.269394053,659.269394053,633.730605947,880,786.730605947,806.730605947,651.269394053,631,652,0.44117586004,-0.00555504796705,0.0599687574096,0.999999992362,-9.13661329256e-05,-6.36793397514e-05,-5.36008417506e-05,1793244726696834048
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.849197563,681.849197563,659.849197563,633.150802437,880,786.150802437,806.150802437,651.849197563,631,652,0.441876339527,-0.00555432703444,0.0599424711365,0.999999988409,-8.94102170774e-05,-0.000111058389328,-5.34244038718e-05,1793244726713500928
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.574744593,681.574744593,659.574744593,633,880,786.425255407,806,651.574744593,631,651.574744593,0.442523805652,-0.0055536840682,0.0598894815151,0.999999976406,-9.24894891494e-05,-0.000188478703076,-5.57539933237e-05,1793244726730167552
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.000003379,681.000003379,659.000003379,633,880,786.999996621,806,651.000003379,631,651.000003379,0.443152636574,-0.00555306850866,0.0598271051288,0.999999955309,-9.73387300546e-05,-0.000276459126524,-5.89645012953e-05,1793244726746834176
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.57337594,681.57337594,659,633,880,786.42662406,806,651.57337594,631,651.57337594,0.44379045094,-0.00555490565841,0.0598035450701,0.99999994521,-9.31529780761e-05,-0.000311700086696,-6.12040025177e-05,1793244726763500800
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.848079843,633,880,785.848079843,806,651.848079843,630.848079843,651.848079843,0.444424701357,-0.0055564625941,0.0597867102791,0.999999936662,-9.04107478133e-05,-0.000338425554427,-6.30017138239e-05,1793244726780167680
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.254520871,633,880,785.254520871,806,651.254520871,630.254520871,651.254520871,0.445048591211,-0.00555720489327,0.0597894254785,0.999999935828,-9.18650546567e-05,-0.000340397008699,-6.35151390488e-05,1793244726796834304
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.669855569,682,658,632.669855569,879.669855569,785,806.330144431,651,630.330144431,651.330144431,0.445620579564,-0.00555442004662,0.0597732993897,0.999999923548,-9.47866882573e-05,-0.000373648803584,-6.56277126286e-05,1793244726813500672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.091866909,682,658,632.091866909,879.091866909,785,806.908133091,651,630.908133091,651.908133091,0.446153604666,-0.00554898732023,0.0597430288716,0.999999900127,-9.88098650834e-05,-0.000430383204381,-6.89407899563e-05,1793244726830167040
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,681.517996177,658,632,879.482003823,785,806.517996177,651.482003823,631,652,0.446674333159,-0.00555108905435,0.0597220492981,0.999999887629,-0.000104018762552,-0.000456994260451,-7.12643631378e-05,1793244726846834432
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713,681,657.943273494,632,880,785.056726506,806,652,630.943273494,651.943273494,0.447193713744,-0.00555472919807,0.0597060811162,0.999999879123,-0.000109266129313,-0.000473756558658,-7.32821068972e-05,1793244726863501824
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713,681,657.353224671,632,880,785.646775329,806,652,630.353224671,651.353224671,0.447722269391,-0.00555944632954,0.0597207208851,0.999999888989,-0.000112768483217,-0.000451444957794,-7.41826188025e-05,1793244726880167936
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.232346858,681,657,631.767653142,880,785.767653142,806.232346858,652,630,651.232346858,0.448220616868,-0.00556607145088,0.0597282969583,0.999999893662,-0.000119104218467,-0.000439121724359,-7.52508718755e-05,1793244726896834304
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.811240422,681,657,631.188759578,880,785.188759578,806.811240422,652,630,651.811240422,0.448673908636,-0.00557554234993,0.0597253374869,0.999999891114,-0.000129665958409,-0.000441696201941,-7.65693118449e-05,1793244726913500928
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.610920206,681.389079794,657,631,880,785,807,652,630,651.610920206,0.449063877797,-0.00558130785818,0.059698724427,0.999999870158,-0.000134887991215,-0.000485050792366,-7.88299336294e-05,1793244726930167808
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.033590835,681.966409165,657,631,880,785,807,652,630,651.033590835,0.449423209442,-0.00558528057758,0.0596606669844,0.999999836992,-0.000137526498926,-0.000548136138652,-8.15464137611e-05,1793244726946834688
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.539243649,682,656.460756351,631,880,784.460756351,806.460756351,652,630,651,0.449767955349,-0.00558884692612,0.0596360261325,0.999999818017,-0.000134062969038,-0.000582625118321,-8.08796345879e-05,1793244726963501312
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.116463881,745,713.883536119,682.116463881,656,631,880.116463881,784,806.116463881,651.883536119,630,651,0.450111447177,-0.00559074338956,0.0596169755931,0.999999805246,-0.000119999227131,-0.000607622056021,-7.68284684672e-05,1793244726980167680
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.712903409,745,713.287096591,682.712903409,656,631,880.712903409,784,806.712903409,651.287096591,630,651,0.450453484279,-0.00558586131828,0.0596175482021,0.999999815714,-6.380304235e-05,-0.000600780656918,-5.96908084155e-05,1793244726996834048
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.701271113,745.298728887,713.298728887,682.701271113,656,630.701271113,880.701271113,784.298728887,806.701271113,651.298728887,630,651,0.450773863814,-0.00557707011925,0.0596228966226,0.999999823115,-6.54930579071e-05,-0.000588862407552,-5.2177408064e-05,1793244727013500416
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.125296412,745.874703588,713.874703588,682.125296412,656,630.125296412,880.125296412,784.874703588,806.125296412,651.874703588,630,651,0.451074143264,-0.0055646509175,0.0596326774025,0.99999982753,-0.000120906393792,-0.000572232409717,-5.35961402613e-05,1793244727030167040
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,630.449971964,880.449971964,784.550028036,806.449971964,652,630,651.449971964,0.451334129455,-0.00555694585241,0.0596354261948,0.999999828281,-0.000126455796423,-0.000569443469038,-5.6401436144e-05,1793244727046834176
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656,630.974288817,880.974288817,784,807,652,630,652,0.451581521389,-0.00555124240339,0.0596361804408,0.999999828546,-0.000118864315031,-0.000570298486918,-5.94858667434e-05,1793244727063500800
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,630.383895744,880.383895744,784,807,652,630,652,0.451798340956,-0.00556071512848,0.059636066482,0.999999829546,-0.000127133221005,-0.000566671032144,-6.02344948629e-05,1793244727080167424
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.797407997,714,682,655.797407997,630,880,784,806.797407997,652,630,652,0.452003887603,-0.00556790275719,0.0596342664767,0.999999828879,-0.000132811973698,-0.000566441332308,-6.12067013553e-05,1793244727096834304
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.218180644,714,682,655.218180644,630,880,784,806.218180644,652,630,652,0.452188476931,-0.005570842201,0.0596293319711,0.999999825212,-0.00013367541553,-0.000572528341399,-6.25945585238e-05,1793244727113500672
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,630,880,784,806,652,630,652,0.452347106379,-0.00557318949344,0.05962425804,0.999999821507,-0.000133395024263,-0.00057891939723,-6.35995901097e-05,1793244727130167296
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,630,880,784,806,652,630,652,0.452490048278,-0.00557517894881,0.0596190998536,0.999999817758,-0.000132423414183,-0.00058549418923,-6.43732801442e-05,1793244727146833920
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629.492474974,880,784,806,652,630,652,0.452610310912,-0.00557649750786,0.0596187816837,0.999999816232,-0.000131617154187,-0.00058829017739,-6.42475518816e-05,1793244727163500800
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,880,784,806.085791486,652,630,652,0.452723520795,-0.005577429471,0.059618655912,0.9999998149,-0.000130318369198,-0.000590855350511,-6.40861215448e-05,1793244727180167424
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,880,784,806.676916755,652,630,652,0.452813233615,-0.00557661810344,0.0596158123197,0.999999812935,-0.000125986920342,-0.000595067676488,-6.44300442144e-05,1793244727196834048
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.262757045,714,682,655,629,880,784,806.737242955,652,629.737242955,652,0.452894489916,-0.00557644425527,0.0596129702486,0.999999809832,-0.0001246805438,-0.00060049452872,-6.47852577301e-05,1793244727213500672
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.582849571,714,682,655.417150429,629,880,784,806,652,629,651.582849571,0.45302342794,-0.00557683533409,0.0596087227098,0.999999803764,-0.00012597130783,-0.0006102197996,-6.50840229806e-05,1793244727246834176
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.579052623,714,682,655.420947377,629,880,784,806,652,629.579052623,651.579052623,0.453111629907,-0.00557583320714,0.0596067533823,0.999999802171,-0.000121812742335,-0.000613679994196,-6.49285828502e-05,1793244727280167424
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.8346383,714,682,655,629,880,784,806,652,630,652,0.453144285588,-0.00557534101854,0.0596059372567,0.999999800996,-0.000120978860887,-0.000615749640715,-6.49999966029e-05,1793244727296834304
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.254931571,714,682,655,629,880,784,806,652,630,652,0.453171168483,-0.00557486838489,0.0596058374899,0.999999799649,-0.000122649393701,-0.000617599341495,-6.5039453767e-05,1793244727313500672
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.32203573,714,682,655,629,880,783.67796427,806.32203573,652,630,652,0.453190563602,-0.00557579015718,0.0596042497934,0.999999798,-0.000123320324914,-0.00062016978533,-6.46704716821e-05,1793244727330167296
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.896852784,714,682,655,629,880,783.103147216,806.896852784,652,630,652,0.453204081208,-0.00557780646565,0.0596014941493,0.999999796108,-0.000123206620957,-0.00062330597523,-6.39808860013e-05,1793244727346834176
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,880,783.951211498,807,652,630,651.048788502,0.453218494583,-0.00557496455986,0.059597721735,0.999999793348,-0.00012173013278,-0.000627968322811,-6.43483333156e-05,1793244727380167424
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,880,783.360053248,807,652,630,651.639946752,0.453223293817,-0.00557354840377,0.0595976020064,0.999999792682,-0.000120987321586,-0.000629178430689,-6.42902846702e-05,1793244727396833792
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629.225621821,880.225621821,783,807,651.774378179,629.774378179,652,0.453227649804,-0.00557328706862,0.0595978723639,0.999999792628,-0.000120731488149,-0.000629334111209,-6.40760388036e-05,1793244727413500416
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629.802754258,880.802754258,783,807,651.197245742,629.197245742,652,0.453231315226,-0.00557482490272,0.0595987504612,0.999999793531,-0.000121234348444,-0.000627847032068,-6.36184433333e-05,1793244727430167040
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.042019646,745,714,682,655,629.042019646,880.042019646,783.957980354,807,651,629,651.042019646,0.453233828536,-0.00557516796173,0.0595968218366,0.999999793134,-0.000118688498578,-0.000628974100223,-6.35341893739e-05,1793244727463500544
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.532929147,745,714,682,654.467070853,629,880,784,807,651.532929147,629.532929147,651.532929147,0.45323386563,-0.00557442427599,0.0595966529007,0.999999793022,-0.000117515832038,-0.000629360899736,-6.36517973473e-05,1793244727480167168
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.889201006,745,714,682,654.110798994,629,880,783.889201006,807,652,630,652,0.453233662464,-0.00557342959294,0.0595963862705,0.99999979273,-0.000116560237142,-0.000629988803004,-6.37767033881e-05,1793244727496834048
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.297718454,745,714,682,654.702281546,629,880,783.297718454,807,652,630,652,0.453232663046,-0.00557156161681,0.059595295923,0.999999791557,-0.000116387706792,-0.000631866662369,-6.39080530045e-05,1793244727513500672
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.286857431,745.286857431,714,682.286857431,655,629,880,783,806.713142569,652,630,652,0.453231343345,-0.00557152142117,0.059594094778,0.999999789923,-0.000117262862823,-0.00063429461975,-6.38262287346e-05,1793244727530167296
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.86443375,745.86443375,714,682.86443375,655,629,880,783,806.13556625,652,630,652,0.45322969905,-0.00557333360997,0.0595927813438,0.999999787815,-0.000119199808367,-0.000637280080366,-6.35283610096e-05,1793244727546833920
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.560088627,714,682.560088627,655,629,880,783,806.439911373,651.560088627,630,652,0.453230793639,-0.0055733395682,0.0595930685443,0.999999788287,-0.000118529159154,-0.000636658942348,-6.35836939154e-05,1793244727563500288
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.015087102,745,714,682,655,628.984912898,880.015087102,783.015087102,807,651.015087102,630,651.984912898,0.453232736514,-0.00557280361957,0.0595938550493,0.999999789565,-0.000117067870224,-0.000634904886325,-6.37322611307e-05,1793244727580167168
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.603246563,745,714,682,655,628.396753437,880.603246563,783.603246563,807,651.603246563,630,651.396753437,0.45323499309,-0.00557272618789,0.0595949599971,0.999999791477,-0.000115952994035,-0.000632134374275,-6.33075045173e-05,1793244727596833792
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.231732857,745,714,682.768267143,655.768267143,628.768267143,880.231732857,783.231732857,806.231732857,652,630,651.768267143,0.453233838903,-0.00556995498586,0.0595934265702,0.99999979062,-0.000113589133415,-0.000633889987153,-6.35701716833e-05,1793244727630167296
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.656108984,655.656108984,629,880.343891016,783,806,652,629.656108984,652,0.453234035393,-0.00556911895211,0.0595931216774,0.999999790713,-0.00011275419886,-0.000633890644524,-6.35847286558e-05,1793244727646833920
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.08315701,655.08315701,629,880.91684299,783,806,652,629.08315701,652,0.453235707766,-0.00556909244545,0.0595937588881,0.999999791947,-0.000112173124597,-0.000632070269089,-6.33329883758e-05,1793244727663500800
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.503912833,714,682,654.496087167,629,880.496087167,783.503912833,806,652,629,651.496087167,0.453235503857,-0.00556840654193,0.0595936285198,0.999999791595,-0.000110631149293,-0.000632887568867,-6.34293086409e-05,1793244727680167168
+245,4.083333333,HOLD_POSE2,765,745,713,682,655,629,879,783,807,652,629,651,0.453236845838,-0.00557087694219,0.0595956013794,0.999999792444,-0.000111873407468,-0.000631409734074,-6.25905061831e-05,1793244727722971904
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+248,4.133333333,HOLD_POSE2,765.275112134,746,714,681.550224267,655,629,880,783,807,652,629.275112134,651.275112134,0.453235020169,-0.00556859372048,0.059592197128,0.999999789283,-0.000111656503722,-0.000636317831215,-6.3775470088e-05,1793244727772972288
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+251,4.183333333,HOLD_POSE2,765.516859967,745,714,682.483140033,655,629,880,783.483140033,807,652,629,651.483140033,0.453234751412,-0.0055694977028,0.0595914696276,0.999999789307,-0.000111588321717,-0.000636358033455,-6.31070652324e-05,1793244727822972160
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+253,4.216666667,HOLD_POSE2,765,745,714,681.725181029,654.362590514,628.362590514,880,783.362590514,806.362590514,652,629,652,0.453237418544,-0.00556997101064,0.0595930784906,0.999999791248,-0.000110631109325,-0.000633517394631,-6.26193678415e-05,1793244727856305408
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+256,4.266666667,HOLD_POSE2,764.370938974,745,714,682,655,628.370938974,880,783,806.370938974,652,629.370938974,651.370938974,0.453238102948,-0.00556947308569,0.0595936758805,0.999999791363,-0.000112956517129,-0.00063284899048,-6.33806177099e-05,1793244727906305280
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.420381353,745,714,682,654.579618647,629,880,783,806.420381353,652,629.579618647,651.420381353,0.453238623182,-0.00556704160079,0.0595932257287,0.999999791483,-0.000108755090557,-0.000633436151921,-6.29709177282e-05,1793244728026844416
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.97979884,745,714,682,654,628.02020116,880,783,806,652,629,651.02020116,0.452622032201,-0.00555074609483,0.0595123759212,0.99999971883,-9.92125504745e-05,-0.000740521464369,-6.42266791752e-05,1793244728326843648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.395016673,745,714,682,654,628.604983327,880,783,806,652,629,651.604983327,0.45248739065,-0.00554607214432,0.0595142956065,0.999999720589,-9.63782727352e-05,-0.000738584947533,-6.34524501477e-05,1793244728343510272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745.186153692,713.813846308,682,654,629,880.186153692,783,806,652,629,651.813846308,0.45234446604,-0.00554122763331,0.0595160023259,0.999999722306,-9.24809887039e-05,-0.00073683760487,-6.24863888246e-05,1793244728360177408
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745.759805645,713.240194355,682,654,629,880.759805645,783,806,652,629,651.240194355,0.4521842994,-0.00553602808349,0.0595172657343,0.999999723934,-8.6370946927e-05,-0.000735484048148,-6.11210087323e-05,1793244728376844544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.335212357,745.664787643,713.335212357,682,654,629,880.664787643,783,806.335212357,652,629.335212357,651.335212357,0.452001095361,-0.00553025896407,0.0595176417994,0.999999723346,-8.08645970311e-05,-0.000737016374765,-5.97910826863e-05,1793244728393511424
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.911883108,745.088116892,713.911883108,682,654,629,880.088116892,783,806.911883108,652,629.911883108,651.911883108,0.451801297129,-0.00552407957477,0.0595173786982,0.999999721153,-7.57930946482e-05,-0.000740627445465,-5.848669457e-05,1793244728410178048
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.501202517,629,880,783.501202517,807,652,630,652,0.451575830643,-0.00551678941913,0.0595182723209,0.999999720247,-7.25758131108e-05,-0.000742263522403,-5.72971595798e-05,1793244728426844416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.089985569,714,681.910014431,655.089985569,629,880,784,806.910014431,652,629.910014431,652,0.451337860868,-0.00550914749465,0.0595191892961,0.999999719324,-6.85582304926e-05,-0.000743988117154,-5.59836908976e-05,1793244728443511040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.663624293,714,681.336375707,655.663624293,629,880,784,806.336375707,652,629.336375707,652,0.451057571584,-0.005500691674,0.0595191104457,0.999999717011,-5.84416980894e-05,-0.000748103057053,-5.38927648548e-05,1793244728460177664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.761350134,714,681.238649866,655.761350134,629,880,784,806.238649866,652,629,651.761350134,0.450765011834,-0.00549220876332,0.059516365706,0.999999714182,-4.90671547184e-05,-0.000752678650658,-5.19901937536e-05,1793244728476844288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.184358416,714,681.815641584,655.184358416,629,880,784,806.815641584,652,629,651.184358416,0.450455055852,-0.00548368744671,0.0595098414464,0.99999971069,-4.07445544896e-05,-0.000757907328153,-5.03546598476e-05,1793244728493510912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.598099072,745,714,682,655,629,880,783.598099072,807,652,629.401900928,651.401900928,0.450116678171,-0.00547538204079,0.0595040586015,0.999999704873,-3.19851106898e-05,-0.000766096377997,-4.8240314514e-05,1793244728510177792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.00748819,745,714,682,655,629,880,783.00748819,807,652,629.99251181,651.99251181,0.449764955274,-0.00546717801457,0.0594986238832,0.999999697845,-2.3020550078e-05,-0.000775675451085,-4.59011464452e-05,1793244728526844416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.571995355,745,714,682,655,629,880,783.571995355,806.428004645,652,630,652,0.44936813149,-0.0054570085426,0.0594952745802,0.999999697576,-1.24418766408e-05,-0.000776364271982,-4.41701176466e-05,1793244728543511040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655.150342845,629.150342845,880,784,806,651.849657155,630,652,0.448961933794,-0.00544706971661,0.0594962874879,0.999999701099,-2.39616572637e-06,-0.000772032009295,-4.19867550244e-05,1793244728560177664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655.725881398,629.725881398,880,784,806,651.274118602,630,652,0.448530863097,-0.00543785458056,0.0595095617482,0.999999715116,6.08361118566e-06,-0.000753822126091,-3.85020275397e-05,1793244728576844288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.69971102,682,656,630,880,784,806,651.30028898,630,652,0.448094459187,-0.00543004323932,0.059527175146,0.999999734956,1.37232027926e-05,-0.000727095876005,-3.50775563774e-05,1793244728593510656
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.126331907,682,656,630,880,784,806,651.873668093,630,652,0.447653205075,-0.00542350854234,0.0595487346632,0.999999759421,2.05987103195e-05,-0.000692624631246,-3.17078833638e-05,1793244728610177280
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,681.537815945,656,630.462184055,880,784,806,651.537815945,630,652,0.447181512488,-0.00541886994967,0.0595766977383,0.999999786685,2.45341736778e-05,-0.000652027422095,-2.9818049757e-05,1793244728626843904
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.053559954,681,656,631,880,784.053559954,806,651.053559954,630,651.946440046,0.446693808318,-0.00541624557004,0.0596047647243,0.999999811647,2.61086253966e-05,-0.000612573552543,-2.78990536463e-05,1793244728643510784
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.207243256,656.207243256,631,880,785,806,651.792756744,630,651,0.445541972893,-0.00543203651434,0.0596145724816,0.999999815034,6.66439808775e-06,-0.000607948400534,-1.6933817322e-05,1793244728676844544
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.781058825,656.781058825,631,880,785,806,651.218941175,630,651,0.444894697108,-0.00542204273718,0.0595900847523,0.999999790765,1.36060075727e-05,-0.000646572864746,-1.51384395451e-05,1793244728693511168
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.645081875,657,631.354918125,880,785,806,651.354918125,630.354918125,651.354918125,0.444279576009,-0.00541068579444,0.0595946068536,0.999999799351,2.39763823264e-05,-0.000632916873547,-1.17875561566e-05,1793244728710177792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.071195616,657,631.928804384,880,785,806,651.928804384,630.928804384,651.928804384,0.443684292894,-0.0053984878417,0.0596170266849,0.999999827019,3.64621470218e-05,-0.000587006247416,-7.47699751136e-06,1793244728726844416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,632,880,785,806,652,630.478357344,651.478357344,0.443069289172,-0.00539353011811,0.0596603822396,0.999999864735,4.29747755914e-05,-0.000518345518498,-1.28866053622e-06,1793244728743511040
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.88652939,681.11347061,657.11347061,632.11347061,880,785.11347061,806,651.88652939,630,651,0.442431692317,-0.00539133401494,0.0597002459718,0.999999891644,7.8353379158e-05,-0.000458855207855,4.99297575742e-06,1793244728760177664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.309785263,681.690214737,657.690214737,632.690214737,880,785.690214737,806,651.309785263,630,651,0.44171325644,-0.00539622637764,0.0597137475815,0.99999987109,0.00023503878737,-0.000449960527755,1.05697265686e-05,1793244728776844032
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.265891366,681.734108634,658,633,880,786,806,651.265891366,630.265891366,651,0.440968984041,-0.00540023405641,0.0597224583649,0.999999852655,0.000309876647765,-0.000445432994605,1.60253812123e-05,1793244728793510656
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.840329321,681.159670679,658,633,880,786,806,651.840329321,630.840329321,651,0.440194730238,-0.0054032151278,0.0597256097626,0.999999858353,0.000289736716593,-0.00044597320995,2.13405139928e-05,1793244728810177536
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.574005303,681,658,633,880,786,806,652,631,651,0.439465930784,-0.00540244064952,0.0597594381134,0.999999886959,0.000276970646245,-0.000385567744359,2.65943460345e-05,1793244728826844416
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.015703632,633,880,786,806,651.984296368,631,651.015703632,0.438752124392,-0.00540010880515,0.0598044385862,0.999999917791,0.000267260691041,-0.00030327523208,3.18452192658e-05,1793244728843511296
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.595407921,633,880,786,806,651.404592079,631,651.595407921,0.437948339697,-0.00539376834971,0.0598265461755,0.999999925561,0.000265360212551,-0.000277544801018,3.78373943008e-05,1793244728860177664
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.825988536,633,880,786,806,651.174011464,631,652,0.437114594429,-0.00538793568586,0.0598258012088,0.999999924312,0.000261032018852,-0.000285562452872,4.11341431607e-05,1793244728876844288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.249928272,633,880,786,806,651.750071728,631,652,0.436211626109,-0.0053832762612,0.0597722560256,0.99999989872,0.000251094653747,-0.000371554141812,3.82031819452e-05,1793244728893510912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.331902536,633,880,786,805.668097464,651.668097464,630.668097464,651.668097464,0.435338926585,-0.00538676972931,0.0597467441697,0.999999900145,0.000205194950413,-0.000396307251879,2.33451388208e-05,1793244728910177280
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658.918155521,633,880,786,805.081844479,651.081844479,630.081844479,651.081844479,0.434489423316,-0.00539651109185,0.0597427153981,0.999999921336,0.000131735841126,-0.000374130737286,-6.53113407488e-07,1793244728926844160
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.077259109,745,713.077259109,681,659,633,880,786,805.077259109,651,630.077259109,651.077259109,0.432743718987,-0.00540481417066,0.0597817410978,0.999999938844,0.000146203151068,-0.000317520881871,1.08354059894e-05,1793244728960177408
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.77073183,745,714,680.77073183,659,633.22926817,880,786,806,651,631,651.77073183,0.430981228992,-0.00539486478341,0.0598143704444,0.999999946101,0.00017508035962,-0.000277002960138,2.03326911162e-05,1793244728993511168
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.192163817,745,714,680.192163817,659,633.807836183,880,786,806,651,631,651.192163817,0.430097994926,-0.0053913748387,0.0598418032412,0.999999957391,0.000178030380103,-0.00023018767583,2.31676333923e-05,1793244729010177792
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,880,786,805.619069419,651.380930581,630.619069419,651,0.42913786411,-0.00538932516185,0.0598205718286,0.999999943449,0.000188053176917,-0.000277883760541,2.27890722648e-05,1793244729026844160
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,880,786,805.048697154,651.951302846,630.048697154,651,0.428139491602,-0.00538799174896,0.0597751390763,0.999999910055,0.000201593355004,-0.000372581567018,2.08123941859e-05,1793244729043510784
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.542867051,744.457132949,713.457132949,680.542867051,658.457132949,634,880,786,805,652,630.542867051,651.542867051,0.427243015644,-0.00539161503738,0.0597586442751,0.999999912434,0.000187989706383,-0.000373384726257,1.93940056706e-05,1793244729060177408
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744.713049704,713.713049704,681,658.713049704,633.286950296,879.286950296,786,805.713049704,652,631,652,0.425455331344,-0.00539371357959,0.0597861318255,0.999999931496,0.000170912838556,-0.000327574015812,2.21844152276e-05,1793244729093510656
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.922856811,745,714,681,658,634,879.922856811,786,805.922856811,652,631,651.922856811,0.417489366416,-0.0053845738631,0.0597696018398,0.999999916508,0.000194454412759,-0.000358646310339,2.33221204865e-05,1793244729243510784
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.488273759,745,713.488273759,680.488273759,658,633.488273759,878.976547518,786.511726241,806,652,631,652,0.416689601373,-0.00538336693194,0.0598076736122,0.999999931553,0.000203454793068,-0.000307866182877,2.68242027987e-05,1793244729260177664
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.898361704,713.101638296,680.101638296,658,633.101638296,878.101638296,786.898361704,805.898361704,652,631,651.898361704,0.415893844798,-0.00538223382809,0.0598389467198,0.999999940673,0.000212679499191,-0.00026931090482,2.98933581447e-05,1793244729276844544
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.320085546,713.679914454,680.679914454,658,633.679914454,878.679914454,786.320085546,805.320085546,652,631,651.320085546,0.415106092346,-0.00538226486401,0.0598383444753,0.999999937609,0.000217102744897,-0.000277048416807,2.98851014038e-05,1793244729293511424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.256544694,744.256544694,714,680.743455306,658,634,879,786,805,652,630.743455306,651.256544694,0.414334933112,-0.00538257092071,0.0598388149127,0.999999936926,0.000218489188489,-0.000278405743843,3.00123146869e-05,1793244729310178048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.831134407,744.831134407,714,680.168865593,658,634,879,786,805,652,630.168865593,651.831134407,0.413584344974,-0.0053832179277,0.0598406151812,0.999999939237,0.000216110830523,-0.000271853391874,3.03074736248e-05,1793244729326844416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.584030909,745,714,680.415969091,658,634,879,786,805,652,630.415969091,652,0.412796719428,-0.00537990714356,0.0598107915369,0.99999992215,0.000220696455984,-0.000325784290391,2.92882599235e-05,1793244729343511040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.004999891,745,714,681,658,634,879,786,805,652,631,651.995000109,0.41199463447,-0.0053749523624,0.0597680120826,0.999999891846,0.000228167501541,-0.000404326670619,2.77083781128e-05,1793244729360177664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.586197428,745,714,681,658,634,879,786,805,652,631,651.413802572,0.411302711509,-0.00537037412628,0.05974900898,0.99999988489,0.000234135280627,-0.000418087901907,2.45594165456e-05,1793244729376844288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.834363496,745,713.834363496,680.834363496,658,634,879,786,805.165636504,652,631,651.165636504,0.410634871837,-0.00536765221815,0.0597466142347,0.999999887079,0.000236259571067,-0.000411696382341,2.30120200481e-05,1793244729393511168
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.313546002,680,658,634,879,786,805.686453998,652.313546002,631,651.686453998,0.409437998441,-0.0053725033542,0.0598202302256,0.999999929691,0.000221542190119,-0.000301229435202,2.82430945504e-05,1793244729426844928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.884495554,680,658,634,879,786,805.115504446,652.884495554,631,651.115504446,0.408865634277,-0.0053764047023,0.0598521418856,0.999999945665,0.000214231518579,-0.000248574249799,3.13971623679e-05,1793244729443511296
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.066110385,787,805.933889615,652,631,651.933889615,0.407689879897,-0.0053770949094,0.0598411428798,0.999999937919,0.000232438141507,-0.000263125190285,3.00022372707e-05,1793244729476844032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.645201574,787,805.354798426,652,631,651.354798426,0.407148253209,-0.00537384916489,0.0598262386856,0.999999929845,0.00024141261932,-0.000285038934942,2.79690166715e-05,1793244729493510912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.777369901,714,680,658,634,879,787,805.222630099,652,631,651,0.406635154796,-0.00537076241449,0.0598195689125,0.999999926456,0.000245811274716,-0.000293164724861,2.68256695075e-05,1793244729510177536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.202571521,714,680,658,634,879,787,805.797428479,652,631,651,0.406167183996,-0.00536792716987,0.0598259247916,0.999999931061,0.000242971647075,-0.000279479983528,2.70899722757e-05,1793244729526844416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.380564865,744.380564865,713.619435135,680,658,634,879,786.619435135,805.619435135,652,630.619435135,651.380564865,0.405723524121,-0.00536515337167,0.0598303113788,0.999999932509,0.00024593491608,-0.000271548486502,2.75635241649e-05,1793244729543511040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.968238977,744.968238977,713.031761023,680,658,634,879,786.031761023,805.031761023,652,630.031761023,651.968238977,0.405293094582,-0.00536241301329,0.0598336262475,0.99999993226,0.000252056210334,-0.000266747992156,2.81509526655e-05,1793244729560177920
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.452142241,745,713,680,657.452142241,634,879,786,805,652,630.547857759,652,0.404857530049,-0.00535749140729,0.0598147773302,0.99999992302,0.000259791492612,-0.00029275836128,2.75929510833e-05,1793244729576850176
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.126041928,680,657,634,879.126041928,786,805,652,631,652,0.404432973352,-0.00535241425955,0.0597941453864,0.999999911351,0.00026775079656,-0.000323848350803,2.70014089391e-05,1793244729593520384
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.700757714,680,657,634,879.700757714,786,805,652,631,652,0.404048645684,-0.00534722704268,0.0597716739827,0.999999894256,0.000276179308066,-0.000366754127797,2.65234266088e-05,1793244729610180864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.281915639,657,634,879.718084361,786,805.281915639,652.281915639,630.718084361,651.718084361,0.403714418452,-0.00534409249622,0.0597664920096,0.999999889736,0.000282974136529,-0.000373798151478,2.70055745838e-05,1793244729626844416
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.870071515,657,634,879.129928485,786,805.870071515,652.870071515,630.129928485,651.129928485,0.403434614509,-0.00534318773155,0.0597800912568,0.99999989968,0.000287994322176,-0.000341886150781,2.85306960814e-05,1793244729643511040
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.244183386,745,713.755816614,680,657.755816614,634,878.755816614,786,805,652.244183386,630,652,0.402260572932,-0.00537711829546,0.0598347108732,0.999999935233,0.00024568634734,-0.00026028106661,3.77573822295e-05,1793244729726844672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.332700891,745,714,680,657.667299109,634,878.667299109,786,805,652,630,652,0.402068436092,-0.00537311589697,0.0598309345758,0.999999932709,0.000244568296795,-0.000270985755256,3.65504510209e-05,1793244729743511296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.9103899,745,714,680,657.0896101,634,878.0896101,786,805,652,630,652,0.401889075317,-0.00536775600715,0.0598261587472,0.999999929737,0.000241260451528,-0.000284857366252,3.42990604487e-05,1793244729760178432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.499167411,745,714,680,657.500832589,634,878.500832589,786,805.500832589,652.500832589,630,652,0.401745988898,-0.00537221140845,0.0598253229822,0.999999940489,0.000188150697203,-0.000288245054587,2.31724973982e-05,1793244729776845056
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.246314652,634,879,786,806,653,630.246314652,652,0.401406981582,-0.00537453917411,0.059833253588,0.999999951598,0.000145111857063,-0.000274823844121,1.47724675675e-05,1793244729826844928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.818903521,634,879,786,806,653,630.818903521,652,0.401325359983,-0.00537164445415,0.0598372633271,0.999999952169,0.000151411263603,-0.000269253934613,1.54683840214e-05,1793244729843511552
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.597012043,652.597012043,630.597012043,652,0.401252973964,-0.00537214356111,0.0598360739851,0.999999950565,0.000158091792389,-0.000271315619973,1.62749274389e-05,1793244729860178688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.155063818,652,630.844936182,652,0.401084520782,-0.00536697924654,0.0598269360855,0.999999916901,0.000290389486135,-0.000285623897032,1.70618908304e-05,1793244729910178560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.728604827,652,630.271395173,652,0.401050742264,-0.00536851299251,0.0598278529609,0.999999917569,0.00028778108701,-0.00028586925928,1.79728157636e-05,1793244729926845184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.702443789,714,680,658,634,879,786.297556211,806,652,630.297556211,652,0.401023428865,-0.00536866770769,0.0598277904599,0.999999917941,0.000285808590423,-0.00028652201811,1.83372199541e-05,1793244729943511808
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.20861319,745,714,680,658,634,879,786.79138681,806,652,631,652,0.400971453195,-0.0053711098032,0.0598323113397,0.999999921341,0.000280827177559,-0.000279414707399,1.95543184154e-05,1793244730026845696
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.651724586,744.651724586,714,679.651724586,658,634,879,786.348275414,805.651724586,652.348275414,631,652,0.400967524336,-0.00536782511962,0.0598335733229,0.999999920727,0.000285835403491,-0.000276545065399,1.9161793515e-05,1793244730060177664
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a510f031ca26cfae8f57fe5914a3530a00061c44
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.5757422768,-0.000122221546943,1.05005089846,0.546313910216,0.0085534648762,1.04971738839
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+381,6.350000000,pose2_to_pose3_retreat,0.575679481778,-0.000122139830927,1.05005097608,0.546251116883,0.0085535527726,1.04971747761
+382,6.366666667,pose2_to_pose3_retreat,0.575676149478,-0.000122198052331,1.05005092362,0.546247784075,0.00855349267672,1.04971742113
+383,6.383333333,pose2_to_pose3_retreat,0.575673850728,-0.000122243939158,1.05005089185,0.546245484779,0.00855344476691,1.04971738487
+384,6.400000000,pose2_to_pose3_retreat,0.575672719432,-0.00012228491027,1.0500509353,0.546244354612,0.00855340763615,1.04971742863
+385,6.416666667,pose2_to_pose3_retreat,0.575672364177,-0.000122297843522,1.05005094916,0.546243999717,0.00855339592656,1.0497174426
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+387,6.450000000,pose2_to_pose3_retreat,0.575672233376,-0.00012230260542,1.05005095426,0.546243869047,0.0085533916152,1.04971744774
+388,6.466666667,pose2_to_pose3_retreat,0.575672148305,-0.000122305702446,1.05005095758,0.546243784063,0.0085533888112,1.04971745108
+389,6.483333333,pose2_to_pose3_retreat,0.575671967851,-0.000122312271981,1.05005096462,0.546243603792,0.00855338286323,1.04971745818
+390,6.500000000,pose2_to_pose3_retreat,0.575671474973,-0.000122330215476,1.05005098385,0.546243111412,0.00855336661744,1.04971747756
+391,6.516666667,pose2_to_pose3_retreat,0.575671214143,-0.00012233971111,1.05005099402,0.546242850847,0.00855335802023,1.04971748781
+392,6.533333333,pose2_to_pose3_retreat,0.575671074877,-0.000122336378053,1.05005099726,0.546242711516,0.00855336113443,1.04971749106
+393,6.550000000,pose2_to_pose3_retreat,0.57567086759,-0.000122321132895,1.0500509994,0.546242503881,0.00855337519894,1.04971749316
+394,6.566666667,pose2_to_pose3_retreat,0.575670741634,-0.000122311869284,1.0500510007,0.546242377714,0.00855338374513,1.04971749444
+395,6.583333333,pose2_to_pose3_retreat,0.575670736959,-0.000122311525414,1.05005100074,0.54624237303,0.00855338406237,1.04971749448
+396,6.600000000,pose2_to_pose3_retreat,0.575670680319,-0.000122307359821,1.05005100133,0.546242316296,0.00855338790536,1.04971749506
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6da8b5b4a84cbf139b9a9f544f1d7057f2c1b2f0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0aeecea85c3170cfe60ea176b5cd84d54e9cc176c7c8f8f3e314c71f4a08e3d
+size 25749478
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e68a1a6bdf01480101819fcc7f20488f836618ef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,765.131475843,745,714,680,658,634,879,786.868524157,805.131475843,652,631,652,0.400969138131,-0.00536928571843,0.0598444733789,0.999999927337,0.000278163825217,-0.000259988358287,1.88745381646e-05,1793244730820941056
+18,0.300000000,BASELINE,765,745,714,680,658,634,878.554729292,786.554729292,805,652,631,652,0.400968224893,-0.00536948864734,0.0598435933832,0.999999926954,0.000278303209498,-0.000261304710115,1.89365097637e-05,1793244730837607680
+19,0.316666667,BASELINE,765,745,714,680,658,634,878.020974607,786,805.020974607,652,630.979025393,651.979025393,0.400966796283,-0.0053697012897,0.0598423477086,0.999999926268,0.000278873456332,-0.000263307548632,1.90474470121e-05,1793244730854274304
+20,0.333333333,BASELINE,765,745,714,680,658,634,878.594679545,786,805.594679545,652,630.405320455,651.405320455,0.400966099964,-0.00537065394503,0.0598417926604,0.999999926251,0.000278284414096,-0.00026399443781,1.90635526934e-05,1793244730870941696
+21,0.350000000,BASELINE,765.172696744,745,714,680,658,634,879.172696744,786.172696744,805.827303256,652,630,651.172696744,0.400965632218,-0.00537103584969,0.0598414949259,0.999999926338,0.000277563348255,-0.00026442544617,1.90287106687e-05,1793244730887608832
+22,0.366666667,BASELINE,765.761093956,745,714,680,658,634,879.761093956,786.761093956,805.238906044,652,630,651.761093956,0.400965714674,-0.0053700438932,0.0598418165743,0.999999926678,0.000276524486847,-0.000264240520551,1.88712317884e-05,1793244730904274944
+23,0.383333333,BASELINE,765.655062456,745,714,680,658,634,879.655062456,787,805.344937544,652.344937544,630.344937544,652,0.400966276657,-0.00536972514453,0.0598421760705,0.999999926615,0.000277706695187,-0.000263233275601,1.88840327264e-05,1793244730920941312
+24,0.400000000,BASELINE,765.074331587,745,714,680,658,634,879.074331587,787,805.925668413,652.925668413,630.925668413,652,0.400967166435,-0.00536986658896,0.0598425614389,0.999999926271,0.000280407188198,-0.000261663907393,1.90132339801e-05,1793244730937607936
+25,0.416666667,BASELINE,765,745,714,680,658,634,879,787,806,653,631,652,0.400966997111,-0.00536975609653,0.0598427825521,0.999999926188,0.000280160496215,-0.000262245651229,1.90294479858e-05,1793244730954274560
+26,0.433333333,BASELINE,765,745,714,680,658,634,879,787,805.920057915,653,631,652,0.400966784166,-0.00536950319222,0.0598430198351,0.999999926123,0.00027975386562,-0.000262924753447,1.90274259665e-05,1793244730970941184
+27,0.450000000,BASELINE,765,745,714,680,658,634,879,787,805.347219587,653,631,652,0.400967260788,-0.00536860023268,0.0598435054708,0.999999925941,0.00028102838135,-0.000262257326156,1.90152229303e-05,1793244730987607552
+28,0.466666667,BASELINE,765.23397579,745,714,680.23397579,658,634,879,787,805.23397579,653,630.76602421,652,0.400966980922,-0.00536768076236,0.0598430983582,0.999999925546,0.000282068966619,-0.000262658811463,1.88697080859e-05,1793244731004274176
+29,0.483333333,BASELINE,765.828032347,745,714,680.828032347,658,634,879,787,805.828032347,653,630.171967653,652,0.400965536849,-0.00536673588256,0.0598413173364,0.99999992482,0.000282749540808,-0.000264705316868,1.8519030913e-05,1793244731020940800
+30,0.500000000,BASELINE,765.588894282,745,714,680.588894282,657.588894282,634,879,787,806,653,630.411105718,652,0.400965951016,-0.00536847596903,0.0598415347823,0.999999925508,0.000280606304976,-0.000264365936801,1.88084226079e-05,1793244731037607680
+31,0.516666667,BASELINE,765.010295699,745,714,680.010295699,657.010295699,634,879,787,806,653,630.989704301,652,0.400967122267,-0.00537130996561,0.0598425664447,0.999999926763,0.000277312591258,-0.000263054498219,1.9358591439e-05,1793244731054274304
+32,0.533333333,BASELINE,765,745,714,680,657.563624016,634,878.436375984,786.436375984,805.436375984,652.436375984,631,652,0.400965676385,-0.00537121418704,0.0598420252049,0.999999926265,0.000278311069753,-0.000263893988256,1.93190389856e-05,1793244731070940928
+33,0.550000000,BASELINE,765,745,714,680,658,634,878.137590606,786.137590606,805,652.137590606,630.862409394,652,0.400965016017,-0.00537103783786,0.0598418924901,0.999999926139,0.000278731088763,-0.000263934849819,1.92262195137e-05,1793244731087607552
+34,0.566666667,BASELINE,765,745,714,680,658,634,878.711974991,786.711974991,805,652.711974991,630.288025009,652,0.400966999857,-0.00537077420929,0.0598431471369,0.999999927293,0.000277067880302,-0.000261316687464,1.89982155543e-05,1793244731104274432
+35,0.583333333,BASELINE,765,745,714,680,658.296599794,634,879,787,805.296599794,653,630,652,0.400967334266,-0.00537045950128,0.0598430969593,0.999999927271,0.0002771117143,-0.000261362408192,1.89115125763e-05,1793244731120941312
+36,0.600000000,BASELINE,765,745,714,680,658.891524652,634,879,787,805.891524652,653,630,652,0.400966009651,-0.00537009341667,0.0598417343675,0.999999926064,0.000278872520131,-0.000264087507039,1.89669324761e-05,1793244731137607936
+37,0.616666667,BASELINE,765,745,714,680,658.530117461,634.469882539,879,787,806.469882539,653,630.469882539,652,0.400966777027,-0.00537021758987,0.059842928526,0.999999926865,0.000277292862084,-0.000262711958091,1.90209627773e-05,1793244731154274304
+38,0.633333333,BASELINE,765.044291999,745,714,680,658,635,879,787,806.955708001,653,631,651.955708001,0.400967853683,-0.00537043459071,0.0598444843536,0.999999927952,0.000275249586631,-0.00026071113527,1.90605916052e-05,1793244731170940928
+39,0.650000000,BASELINE,765.615678103,745,714,680,658,635,879,787,806.384321897,653,631,651.384321897,0.400967059324,-0.00537045527114,0.0598435592862,0.999999927218,0.000276553737592,-0.000262151276656,1.89325242757e-05,1793244731187607552
+40,0.666666667,BASELINE,765.804911098,745,714,680,658,635,879,786.804911098,806,652.804911098,631,651.195088902,0.400966206191,-0.00537069266879,0.0598428697314,0.999999926887,0.000276681120375,-0.000263283111867,1.88583362594e-05,1793244731204274176
+41,0.683333333,BASELINE,765.209013666,745,714,680,658,635,879,786.209013666,806,652.209013666,631,651.790986334,0.400965232307,-0.00537137531016,0.0598426640356,0.999999927386,0.000274390842619,-0.000263781534514,1.88948428525e-05,1793244731220940800
+42,0.700000000,BASELINE,765,745,714,680.374623499,658,635,879,786,805.625376501,652,630.625376501,652,0.400965024645,-0.00537045636646,0.0598424733061,0.99999992694,0.000275794588896,-0.000264010550783,1.88522991472e-05,1793244731237607680
+43,0.716666667,BASELINE,765,745,714,680.951637045,658,635,879,786,805.048362955,652,630.048362955,652,0.400965230934,-0.00536867216768,0.0598422906624,0.999999925976,0.000279194028795,-0.000264094020451,1.87670485798e-05,1793244731254274304
+44,0.733333333,BASELINE,765.526052327,745,714,679.947895346,658,634.473947673,879,786.526052327,805,652,630,652,0.400966250034,-0.00536992221833,0.0598430331072,0.999999926081,0.000279778740766,-0.000263046552755,1.92183124531e-05,1793244731270940672
+45,0.750000000,BASELINE,765.897128005,745,714,679.102871995,658,634,879,786.897128005,805,652.102871995,630,652,0.400966982698,-0.00537124121037,0.0598436614288,0.999999926291,0.00027981564611,-0.000262177429227,1.96026068672e-05,1793244731287607552
+46,0.766666667,BASELINE,765.307815144,745,714,679.692184856,658,634,879,786.307815144,805,652.692184856,630,652,0.400966009307,-0.00537157361085,0.0598433499224,0.999999926545,0.000278479815681,-0.000262640857678,1.9438138053e-05,1793244731304274176
+47,0.783333333,BASELINE,765,745,714,679.723041875,658,634,879,786,805,652.723041875,630,652,0.400965712639,-0.00537200541719,0.0598429187402,0.999999926773,0.000277231648134,-0.000263097717622,1.93861596272e-05,1793244731320940544
+48,0.800000000,BASELINE,765,745,714,679.143232536,658,634,879,786,805,652.143232536,630,652,0.40096615596,-0.00537254592298,0.0598423566935,0.999999926972,0.000276079338991,-0.000263547395021,1.94571884073e-05,1793244731337607424
+49,0.816666667,BASELINE,765,745,714,679.416164102,658,634,879,786.416164102,805,652,630.416164102,652,0.400966930283,-0.00537192868386,0.0598429767104,0.999999927051,0.000276963846556,-0.000262326478957,1.93117473663e-05,1793244731354274304
+50,0.833333333,BASELINE,765,745,714,679.96886369,658,634,879,786.96886369,805,652,630.96886369,652,0.400967813201,-0.00537093161073,0.0598439845398,0.999999927087,0.000278516594805,-0.000260557473092,1.90952867118e-05,1793244731370941440
+51,0.850000000,BASELINE,765,744.436023534,714,679.436023534,658,634,879,786.436023534,805,652,631,652,0.400967601266,-0.00537168112926,0.0598439691115,0.999999927518,0.000276893096162,-0.000260616232436,1.93025671374e-05,1793244731387608064
+52,0.866666667,BASELINE,765,744,714,679.160476618,658,634,879,786.160476618,805.160476618,652,630.839523382,652,0.400967260616,-0.00537246888334,0.0598437792729,0.999999927794,0.000275680013498,-0.000260831742068,1.94730672246e-05,1793244731404274688
+53,0.883333333,BASELINE,765,744,714,679.753888802,658,634,879,786.753888802,805.753888802,652,630.246111198,652,0.40096674905,-0.00537307849402,0.0598432837079,0.999999927592,0.000276085703038,-0.000261175765335,1.94760956859e-05,1793244731420941312
+54,0.900000000,BASELINE,765,744.33652834,713.66347166,680,658,634,879,787,805.66347166,652,630,652,0.40096691831,-0.00537249684995,0.0598433754878,0.999999927441,0.000276633536275,-0.000261183332858,1.93846170774e-05,1793244731437607936
+55,0.916666667,BASELINE,765,744.911533931,713.088466069,680,658,634,879,787,805.088466069,652,630,652,0.400967570029,-0.00537107103576,0.0598438834834,0.999999927324,0.000277282098119,-0.000260952474556,1.92261670329e-05,1793244731454274816
+56,0.933333333,BASELINE,765,745,713.487965848,680,658,634,879,786.512034152,805,652,630.487965848,652,0.400966511018,-0.00537070097471,0.059842915582,0.999999926925,0.000277242681977,-0.000262545829988,1.88746801466e-05,1793244731470941696
+57,0.950000000,BASELINE,765,745,714,680,658,634,879,786.065859548,805.065859548,652,630.934140452,652,0.400965350159,-0.00537061042747,0.0598418964469,0.999999926617,0.000276868618703,-0.000264129917655,1.85630747996e-05,1793244731487608320
+58,0.966666667,BASELINE,765,745,714,680,658,634,879,786.653275291,805.653275291,652,630.346724709,652,0.400965846071,-0.00537121320229,0.0598425967672,0.999999927467,0.000274835050743,-0.000263013873214,1.88452595958e-05,1793244731504274944
+59,0.983333333,BASELINE,765,745,714,680,658,634,879,786.763320131,806,652.236679869,630.236679869,651.763320131,0.400966238045,-0.00537171867306,0.0598430525284,0.999999927879,0.00027402797244,-0.000262268473097,1.91183416815e-05,1793244731520941568
+60,1.000000000,BASELINE,765,745,714,680,658,634,879,786.18569371,806,652.81430629,630.81430629,651.18569371,0.400966480292,-0.00537208397363,0.0598431559928,0.999999927666,0.000274987699876,-0.000262057000379,1.93783110002e-05,1793244731537607936
+61,1.016666667,BASELINE,765,745,714,680,658,634,879,786,806,653,631,651.392477949,0.400967279622,-0.00537166788771,0.0598437394643,0.999999927795,0.000275260129425,-0.000261288354628,1.92195425707e-05,1793244731554274560
+62,1.033333333,BASELINE,765,745,714,680,658,634,879,786,806,653,631,651.970907899,0.400968342893,-0.00537088158892,0.059844550358,0.999999928086,0.000275206924268,-0.000260255726055,1.88623805013e-05,1793244731570940928
+63,1.050000000,BASELINE,765,745,714,680,658,634,879,786,805.453553159,652.453553159,630.453553159,652,0.400967859284,-0.0053718623418,0.0598437580186,0.9999999282,0.000273613451903,-0.000261485295143,1.8984507013e-05,1793244731587607808
+64,1.066666667,BASELINE,765.125029942,745,714,680,658,634,879,786,805,652,630,652,0.400967217947,-0.00537240903001,0.0598430447005,0.999999928034,0.000273098686919,-0.00026265138965,1.90685353884e-05,1793244731604274432
+65,1.083333333,BASELINE,765.715515637,745,714,680,658,634,879,786,805,652,630,652,0.400966294394,-0.0053709914253,0.0598429416395,0.999999926863,0.000276903350436,-0.000263135188319,1.89162413274e-05,1793244731620941568
+66,1.100000000,BASELINE,765.700108627,745,714,680,658.299891373,634.299891373,879,786.299891373,805,652,630.299891373,652,0.400966489486,-0.00537094377808,0.0598433420367,0.999999926878,0.000277512276738,-0.00026243869929,1.89072244019e-05,1793244731637608192
+67,1.116666667,BASELINE,765.12141325,745,714,680,658.87858675,634.87858675,879,786.87858675,805,652,630.87858675,652,0.400967724565,-0.00537216975756,0.0598442104905,0.999999927997,0.000275150179291,-0.000260644916464,1.90314098458e-05,1793244731654274816
+68,1.133333333,BASELINE,765,745,714,680,658.545041968,634.545041968,878.545041968,786.545041968,805,652,631,652,0.400967702867,-0.00537177723032,0.059844479659,0.999999928142,0.000274989824362,-0.000260245681537,1.91917082688e-05,1793244731670941440
+69,1.150000000,BASELINE,765,745,714,680,658,634,878,786,805,652,630.969458255,652,0.400967358585,-0.00537096057885,0.0598445491747,0.999999927978,0.000275545349735,-0.000260276906835,1.93465403303e-05,1793244731687608576
+70,1.166666667,BASELINE,765,745,714,680,658,634,878,786,805,652,630.39690108,652,0.400967211374,-0.0053702434247,0.0598438993079,0.999999926894,0.000278430916629,-0.000261376359343,1.92342000831e-05,1793244731704274944
+71,1.183333333,BASELINE,765.181824166,745,714,680,658,634,878.181824166,786.181824166,805,652,630.181824166,652,0.400966954942,-0.00536975763103,0.059843467296,0.999999926339,0.000279719420727,-0.000262128119849,1.91649280993e-05,1793244731720941312
+72,1.200000000,BASELINE,765.774486499,745,714,680,658,634,878.774486499,786.774486499,805,652,630.774486499,652,0.400966451721,-0.00536979460446,0.0598435275346,0.999999926994,0.000277399305216,-0.000262094258127,1.91929703665e-05,1793244731737607936
+73,1.216666667,BASELINE,765.643001355,745,714,680,657.643001355,634,879,787,805,652.356998645,631,652,0.400966764988,-0.00537062789979,0.0598436742306,0.999999927248,0.000276919014732,-0.000261626404077,1.9265721616e-05,1793244731754275072
+74,1.233333333,BASELINE,765.066723783,745,714,680,657.066723783,634,879,787,805,652.933276217,631,652,0.400967579766,-0.00537195031912,0.0598438740314,0.999999927258,0.000277568798305,-0.000260891979346,1.93659344182e-05,1793244731770941952
+75,1.250000000,BASELINE,765,745,714,679.49098312,657.50901688,634,879,786.49098312,805,652.49098312,631,652,0.400965879553,-0.00537130077112,0.0598431198384,0.99999992693,0.000277170562922,-0.000262569220847,1.93513199665e-05,1793244731787608320
+76,1.266666667,BASELINE,765,745,714,679.087114037,658,634,879,786.087114037,805.087114037,652,631,652,0.40096421799,-0.0053707354057,0.0598423892219,0.999999926693,0.00027644960425,-0.000264228802419,1.93069423857e-05,1793244731804274688
+77,1.283333333,BASELINE,765,745,714,679.679280814,658,634,879,786.679280814,805.679280814,652,631,652,0.400964689816,-0.00537215515671,0.0598425195358,0.999999927263,0.000274653248442,-0.00026395513329,1.91771833934e-05,1793244731820941056
+78,1.300000000,BASELINE,765,745,714,680,658,634,879,786.735806298,805.735806298,652,631,652,0.4009653152,-0.00537310447159,0.0598428713614,0.999999927813,0.000273297293757,-0.000263279191908,1.9137652676e-05,1793244731837607680
+79,1.316666667,BASELINE,765,745,714,680,658,634,879,786.159464025,805.159464025,652,631,652,0.400966122014,-0.00537349795947,0.059843484906,0.999999928342,0.000272461679318,-0.000262127960224,1.92047279427e-05,1793244731854274304
+80,1.333333333,BASELINE,765.416523222,745,714,680,658,634,879,786,805,652,630.583476778,652,0.40096694926,-0.00537257476156,0.0598439243429,0.999999928152,0.000273966784541,-0.000261273796632,1.93545499606e-05,1793244731870940928
+81,1.350000000,BASELINE,765.992374713,745,714,680,658,634,879,786,805,652,630.007625287,652,0.400967784322,-0.00537114790564,0.0598442971804,0.999999927681,0.000276367260687,-0.000260533267292,1.95360242326e-05,1793244731887607552
+82,1.366666667,BASELINE,765.431222502,745,714,680,658,634,879,786,805,652,630.568777498,652,0.400967015486,-0.00537053821318,0.0598430553204,0.999999927331,0.000276236475519,-0.000262056891109,1.89358348237e-05,1793244731904274432
+83,1.383333333,BASELINE,765.149251027,745,714,679.850748973,658,634,879,786,805,652.149251027,631,652,0.400966633095,-0.00537068315111,0.0598422985584,0.999999927279,0.00027557108601,-0.00026297672635,1.85920518401e-05,1793244731920941056
+84,1.400000000,BASELINE,765.741793258,745,714,679.258206742,658,634,879,786,805,652.741793258,631,652,0.400967462416,-0.00537303685042,0.0598430469454,0.999999928114,0.000273418754482,-0.000262013003773,1.90409776055e-05,1793244731937607680
+85,1.416666667,BASELINE,766,745,714,679.326548573,658,634,879,786.326548573,805.653097147,653,631,651.673451427,0.40096709958,-0.005373233582,0.0598433557494,0.999999928111,0.000273498775807,-0.000261925104854,1.92695182238e-05,1793244731954274304
+86,1.433333333,BASELINE,766,745,714,679.905290033,658,634,879,786.905290033,806.810580066,653,631,651.094709967,0.400965816045,-0.00537176449106,0.0598433250642,0.999999927461,0.000275302839426,-0.000262513603057,1.93278557555e-05,1793244731970940928
+87,1.450000000,BASELINE,765.520922606,745,714.479077394,679.520922606,658,634.479077394,879.479077394,787,806.041845213,652.520922606,631,651.479077394,0.400966855976,-0.00537053719112,0.0598433866322,0.999999926984,0.000277784207689,-0.000261734918703,1.90285064414e-05,1793244731987607808
+88,1.466666667,BASELINE,765.052419121,745,714.947580879,679.052419121,658,634.947580879,879.895161758,787,805.052419121,652,631,652,0.400968299142,-0.00536952496931,0.0598435759182,0.999999926663,0.000279997962087,-0.000260623889812,1.87229226564e-05,1793244732004274944
+89,1.483333333,BASELINE,765.631018051,745,714.368981949,679.631018051,658,634.368981949,878.737963898,787,805.631018051,652,631,652,0.400969226401,-0.00537019678329,0.0598448660337,0.999999927617,0.000278195122675,-0.000258862108825,1.90572950805e-05,1793244732020941312
+90,1.500000000,BASELINE,766,745,714,680,658,634.214088978,878.214088978,786.785911022,806,652.214088978,631,652,0.400969525379,-0.00537061839972,0.059845447177,0.999999928123,0.000276822290078,-0.000258375124425,1.91345552627e-05,1793244732037607680
+91,1.516666667,BASELINE,766,745,714,680,658,634.805031755,878.805031755,786.194968245,806,652.805031755,631,652,0.400968718414,-0.00537059960153,0.0598447803398,0.999999927845,0.000276206384546,-0.000260132122778,1.87592291747e-05,1793244732054274560
+92,1.533333333,BASELINE,765.613483239,745,714,680,658,635,879,786.386516761,805.613483239,652.613483239,630.613483239,652,0.400967747829,-0.00537063764968,0.0598441132981,0.999999927481,0.000276892177003,-0.000260792134305,1.88705536514e-05,1793244732070941184
+93,1.550000000,BASELINE,765.036654956,745,714,680,658,635,879,786.963345044,805.036654956,652.036654956,630.036654956,652,0.400966696681,-0.00537070368759,0.0598434461558,0.999999927075,0.000278218894064,-0.000260912016164,1.92214930826e-05,1793244732087607552
+94,1.566666667,BASELINE,765,745,714,679.464603995,658,634.464603995,879,787,805.535396005,652,630.535396005,652,0.400968017465,-0.00537051703204,0.0598444493867,0.999999927651,0.000277042792412,-0.000259956967685,1.91671257886e-05,1793244732104274176
+95,1.583333333,BASELINE,765,745,714,679.110985448,658,634.110985448,879,787,805.889014552,652,631,652,0.400968968098,-0.0053708422811,0.0598451340104,0.99999992824,0.000275541276425,-0.000259291936305,1.91146425851e-05,1793244732120940800
+96,1.600000000,BASELINE,765,745,714,679.703327889,658,634.703327889,879,787,805.296672111,652,631,652,0.400967615266,-0.00537346209037,0.0598439451946,0.999999928599,0.000273364997061,-0.000260201102696,1.91896155472e-05,1793244732137607424
+97,1.616666667,BASELINE,765,745,714,680,658.288638645,634.711361355,879,787,805.288638645,652.288638645,631,652,0.400967315814,-0.00537414611439,0.059843680283,0.999999928774,0.000272617704291,-0.000260312062057,1.92368420678e-05,1793244732154274304
+98,1.633333333,BASELINE,765,745,714,680,658.866893856,634.133106144,879,787,805.866893856,652.866893856,631,652,0.40096807331,-0.00537288779446,0.0598443424059,0.999999928765,0.000273304239727,-0.000259622109968,1.92562281363e-05,1793244732170941184
+99,1.650000000,BASELINE,765.442224688,745,714,680,658.557775312,634,878.557775312,787,805.557775312,653,631,652,0.40096787102,-0.00537178305942,0.0598438722498,0.99999992813,0.000275061577825,-0.00026021714894,1.91714821794e-05,1793244732187607808
+100,1.666666667,BASELINE,765.9833078,745,714,680,658,634,878.0166922,787,805.0166922,653,631,652,0.400967381831,-0.00537074338731,0.0598430976798,0.999999927325,0.000277098644122,-0.000261156444934,1.90565971752e-05,1793244732204274688
+101,1.683333333,BASELINE,765.408468358,745,714,680,658,634,878.591531642,787,805.591531642,653,631,652,0.400966895726,-0.00537034366932,0.0598434651456,0.999999927241,0.00027778290592,-0.000260759097325,1.89750817073e-05,1793244732220941568
+102,1.700000000,BASELINE,765,745,714,679.827876178,658,634,878.827876178,787,805.827876178,652.827876178,631,652,0.400966759149,-0.00537053475717,0.0598439871035,0.999999927438,0.000277487215137,-0.000260318333767,1.89370460451e-05,1793244732237607936
+103,1.716666667,BASELINE,765,745,714,679.233160167,658,634,878.233160167,787,805.233160167,652.233160167,631,652,0.400967480722,-0.00537217637023,0.0598448883646,0.999999928325,0.000274785580096,-0.000259770977004,1.90057604422e-05,1793244732254274560
+104,1.733333333,BASELINE,765,745,714,679.350088038,658,634,878.350088038,787,805,652,631,652,0.400967381919,-0.00537290221027,0.059844810402,0.999999928284,0.000274417538101,-0.000260303429028,1.92282320369e-05,1793244732270941440
+105,1.750000000,BASELINE,765,745,714,679.925940942,658,634,878.925940942,787,805,652,631,652,0.400966754072,-0.00537303748652,0.0598441009576,0.999999927644,0.000275554383931,-0.000261532228373,1.95498586202e-05,1793244732287607808
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,787,805,652,631,652,0.400967151369,-0.00537110169879,0.0598446146592,0.999999927831,0.000276945702012,-0.000259379074078,1.9003996097e-05,1793244732318859776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.593440555,658,634.406559445,879,787,805,652,631,652,0.400966929138,-0.0053712882528,0.0598438256983,0.999999927763,0.000276214046146,-0.000260414705672,1.90820741959e-05,1793244732335526144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,713.817693155,680,658.182306845,634,879,786.817693155,805,652,631,652,0.400966701418,-0.00537130693751,0.059843247079,0.999999927626,0.000276124565854,-0.000261031576121,1.91266513645e-05,1793244732352192768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.238778055,680,658.761221945,634,879,786.238778055,805,652,631,652,0.400966461754,-0.00537096042283,0.0598431260571,0.999999927341,0.00027743213737,-0.000260737432552,1.90983473271e-05,1793244732368859648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713.33694363,680,658.66305637,634,879,786,805,652,631,651.66305637,0.400965803376,-0.00537183888528,0.0598430176603,0.999999927679,0.000275549561981,-0.000261425051079,1.92472757726e-05,1793244732385526272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713.910423487,680,658.089576513,634,879,786,805,652,631,651.089576513,0.400964851058,-0.00537357728824,0.0598429181264,0.999999928441,0.000271427486355,-0.00026280187185,1.95206223683e-05,1793244732402193152
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.467808923,805.467808923,652,631,651.467808923,0.400966232376,-0.00537253868858,0.0598438091022,0.999999928297,0.000273492346501,-0.000261216178408,1.9362456995e-05,1793244732418859776
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,806,652,630.97527214,652,0.400967883885,-0.00537104760739,0.0598447944246,0.999999927957,0.000276576527436,-0.00025927727126,1.912834686e-05,1793244732435526400
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,806,652,630.358156229,652,0.40096565939,-0.00537103166155,0.0598436474205,0.999999927228,0.00027664322633,-0.000262014260732,1.89884677933e-05,1793244732452193024
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.7584659,806,652,630,652,0.400966933247,-0.00537066442028,0.0598445225051,0.999999927235,0.000277186282336,-0.000261410294429,1.90416419792e-05,1793244732468859648
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.182876205,806,652,630,652,0.400973045528,-0.00536981131718,0.0598481942552,0.999999928247,0.0002783881677,-0.000256185593319,1.93618199623e-05,1793244732485526528
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.606486234,652,630,652,0.400992583538,-0.00537109104977,0.0598564064546,0.999999931907,0.000277576435353,-0.000242364356881,1.99099693665e-05,1793244732502193152
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.029723545,652,630,652,0.401018373555,-0.00537336398729,0.0598667330211,0.999999936539,0.000275827014684,-0.000224539941452,2.05642790372e-05,1793244732518859776
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.454999827,658,634,878.454999827,786,805,652.545000173,630,652,0.401074855954,-0.00537449023787,0.0598875107771,0.999999944407,0.000275404472153,-0.000186770884233,2.13096838069e-05,1793244732535526400
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.124003342,657.875996658,634.124003342,878,786,805.124003342,653,630,652,0.401135012955,-0.00537607124593,0.0599073348079,0.999999950461,0.000274470683105,-0.000152487062717,2.21626780418e-05,1793244732552193024
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.719706842,657.280293158,634.719706842,878,786,805.719706842,653,630,652,0.40120280417,-0.00537961912655,0.0599213708066,0.999999953728,0.000271317899265,-0.000135583141187,2.34061072538e-05,1793244732568859392
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.304861104,634.695138896,878.304861104,786.304861104,806,652.695138896,630,652,0.401278377597,-0.00538307504525,0.0599317556951,0.999999956338,0.000268801217946,-0.000120405279221,2.39364026902e-05,1793244732585526016
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.880640624,634.119359376,878.880640624,786.880640624,806,652.119359376,630,652,0.401360866774,-0.00538644924069,0.0599388959806,0.999999958413,0.000266849816839,-0.000106761301469,2.3832963311e-05,1793244732602192896
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.544762961,714,679.544762961,658,634,879,786.544762961,805.544762961,652.455237039,630,651.544762961,0.401461991333,-0.00538707657059,0.059943254664,0.99999995888,0.000268113569736,-9.91289392955e-05,2.30072849167e-05,1793244732618859776
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.030501768,714,679.030501768,658,634,879,786.030501768,805,652.969498232,630.030501768,651.030501768,0.401569056497,-0.00538726158753,0.0599468586287,0.999999959041,0.00026981994328,-9.29096664899e-05,2.19941224709e-05,1793244732635526400
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.623806852,714,679.623806852,658,634,879,786.623806852,805,652.376193148,630.623806852,651.623806852,0.401695813645,-0.00539253968856,0.0599499589369,0.999999961376,0.000264179282756,-8.37562230524e-05,2.10066104528e-05,1793244732652193024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.789456563,713.789456563,680,658,634,879.210543437,787,805,652,630.789456563,652,0.401830082872,-0.00539697166152,0.0599510310343,0.999999963033,0.000259541714076,-7.86221847224e-05,1.97685968416e-05,1793244732668859648
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.214101375,713.214101375,680,658,634,879.785898625,787,805,652,630.214101375,652,0.401977368377,-0.00539993753521,0.0599485888205,0.999999963667,0.000256642218218,-8.04526305121e-05,1.80965354914e-05,1793244732685526784
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.362037854,713.362037854,680,658,634,879.637962146,786.637962146,805,652,630.362037854,651.637962146,0.402148817719,-0.00540450517688,0.0599472784223,0.999999965271,0.000251277267534,-7.78042748188e-05,1.62677066401e-05,1793244732702193408
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.93864181,713.93864181,680,658,634,879.06135819,786.06135819,805,652,630.93864181,651.06135819,0.402334588064,-0.00541002212594,0.059946638808,0.999999967391,0.000244451135013,-7.25015035623e-05,1.43459674775e-05,1793244732718859776
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.492363458,745,714,680,658,634,879,786,805,652,630.492363458,651.507636542,0.402561247503,-0.00541555803934,0.0599494176166,0.999999969532,0.000238278521399,-6.32821538369e-05,1.24221696837e-05,1793244732735526656
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.080129226,745,714,680,658,634,879,786.080129226,805.080129226,652,630.080129226,652,0.402796694444,-0.00542132355755,0.0599520625645,0.999999971596,0.000231826915142,-5.43713034041e-05,1.03974095339e-05,1793244732752193280
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.681257554,745,714,680,658,634,879,786.681257554,805.681257554,652,630.681257554,652,0.403057617647,-0.00542856728157,0.0599511903005,0.999999973818,0.00022305528635,-5.04988776375e-05,7.71778668784e-06,1793244732768859904
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.268483529,634,878.731516471,787,805.731516471,652,631,652,0.403328811214,-0.0054345067412,0.0599486372174,0.999999975381,0.000215720824546,-5.17728425462e-05,4.66271520707e-06,1793244732785526272
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.84001722,634,878.15998278,787,805.15998278,652,631,652,0.403611597414,-0.00543897401496,0.0599441869134,0.999999976215,0.000210008562188,-5.88557842599e-05,1.1838571093e-06,1793244732802193152
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.418012826,658.581987174,634.418012826,878.418012826,786.581987174,805,652.418012826,630.581987174,652,0.403929077024,-0.00544618578746,0.0599356769381,0.999999977301,0.00020092213553,-7.08622000675e-05,-2.55816237321e-06,1793244732818860032
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.998520368,658.001479632,634.998520368,878.998520368,786.001479632,805,652.998520368,630.001479632,652,0.404260043045,-0.00545446443273,0.0599255888411,0.999999978236,0.000190524065305,-8.47825247255e-05,-6.4024808704e-06,1793244732835526912
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.436688837,658.563311163,635,879.563311163,786,805.563311163,652.436688837,630.563311163,652,0.404598621723,-0.00546185638876,0.0599125759431,0.999999977207,0.000182224897825,-0.000110801830611,-1.01977368307e-05,1793244732852193280
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.137294242,745,714,680,658.862705758,634.862705758,879.862705758,786.137294242,806,652,631,652,0.404960754015,-0.00546981876521,0.059902202034,0.999999976324,0.000172663932427,-0.00013168155142,-1.41201456688e-05,1793244732868859648
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.742759699,745,714,680,658.257240301,634.257240301,879.257240301,786.742759699,806,652,631,652,0.405403137362,-0.00547973399123,0.0599008525244,0.99999997812,0.000158781968623,-0.000134929934671,-1.8476570591e-05,1793244732885526272
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.669179445,745,714,680,658.330820555,634,879,787,805.669179445,652,631,652,0.405873256041,-0.00549016057446,0.0599145273459,0.99999998293,0.000143750987668,-0.000114102226599,-2.137086382e-05,1793244732902192896
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.093975625,745,714,680,658.906024375,634,879,787,805.093975625,652,631,652,0.40636386337,-0.00550096490777,0.0599393009188,0.999999988706,0.000127871204858,-7.54890646679e-05,-2.31850537469e-05,1793244732918859520
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.523268201,634,879,786.523268201,805.476731799,652,631,652,0.406903521286,-0.00550514005983,0.0599692697231,0.99999999912,2.4250504633e-05,-2.27038086475e-05,-2.56128929617e-05,1793244732935526400
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.048433876,634,879,786,805.951566124,652,630.951566124,652,0.40745225477,-0.00550639959358,0.0599979101954,0.99999999569,-8.40666216632e-05,2.75592686352e-05,-2.81596840997e-05,1793244732952193280
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.641182586,634,879,786,805.358817414,652,630.358817414,652,0.407995333866,-0.00548944123862,0.060000220774,0.999999997977,-5.26031853427e-05,1.83745854601e-05,-3.06965550081e-05,1793244732968860672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.228892034,745,714,680,658.771107966,634.228892034,879,786,805.228892034,652.228892034,630.228892034,652,0.408548845572,-0.00547792422378,0.0599950407422,0.999999998988,-2.87348023889e-05,-1.47145315196e-06,-3.45956210662e-05,1793244732985527552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.808871932,745,714,680,658.191128068,634.808871932,879,786,805.808871932,652.808871932,630.808871932,652,0.40911835939,-0.00547475345272,0.0599783711782,0.999999998331,-1.65161542919e-05,-3.76704959238e-05,-4.05841008297e-05,1793244733002193664
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.387903994,634.612096006,879,786,805.612096006,652.612096006,631,652,0.409732048229,-0.00548608150289,0.059973572438,0.999999997418,-2.56506196565e-05,-5.00552477793e-05,-4.47364295878e-05,1793244733018859776
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.966470159,634.033529841,879,786,805.033529841,652.033529841,631,652,0.410367449912,-0.00550453599883,0.0599746084332,0.999999996536,-4.52805457085e-05,-5.07348228394e-05,-4.79862551251e-05,1793244733035526400
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.46014865,745,714,680,659,634,879,786.53985135,805,652,631,652,0.411060960432,-0.00551760956689,0.0599836720748,0.999999995525,-7.5757527634e-05,-2.50491864158e-05,-5.08299134354e-05,1793244733052192768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.116885034,745,714,680.116885034,658.883114966,634,879,787,805,652,631,652,0.411757858769,-0.00552901240857,0.0599886082502,0.999999993347,-0.000102418021577,-8.36303581257e-06,-5.24149369902e-05,1793244733068859392
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.710103191,745,714,680.710103191,658.289896809,634,879,787,805,652,631,652,0.412453995045,-0.00553495566632,0.0599747115104,0.999999992051,-0.000110806071076,-3.49616591479e-05,-4.897256389e-05,1793244733085526272
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,714,680.704883683,658.295116317,634.295116317,879.295116317,786.704883683,805,652,631,652,0.413142684623,-0.00552997894774,0.0599492586932,0.999999993239,-6.7933909094e-05,-8.62649166883e-05,-3.82687841407e-05,1793244733102192896
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,680.127712378,658.872287622,634.872287622,879.872287622,786.127712378,805,652,631,652,0.413824257163,-0.00551456555248,0.0599127612484,0.999999986512,2.39297775587e-05,-0.000161179427202,-2.06249739834e-05,1793244733118859776
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.55263735,745,714,680.44736265,658.55263735,634.55263735,880,786,805,652,631,652,0.414613412353,-0.00551188802708,0.05992413999,0.99999998969,3.84297320292e-05,-0.000136696744336,-2.13731994576e-05,1793244733135526400
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.022410161,634,879.977589839,786,805,652,631,652,0.415434969799,-0.00551331210138,0.0599498583879,0.999999995719,3.02451477157e-05,-8.31424195395e-05,-2.71196300914e-05,1793244733152193024
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.611833272,634,879.388166728,786,805,652,631,652,0.416302905767,-0.00552695030476,0.0599941933563,0.999999999586,4.30208255324e-06,-8.63236315247e-06,-2.71014696689e-05,1793244733168859904
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.802682358,714,681,659,634,879.197317642,786,805,651.802682358,631,651.802682358,0.417155955103,-0.00553648318995,0.060020765442,0.999999998854,-1.75036897683e-05,3.49684507023e-05,-2.76160969293e-05,1793244733185526528
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.224794743,714,681,659,634,879.775205257,786,805,651.224794743,631,651.224794743,0.417980292282,-0.00553809807564,0.0600130779438,0.999999998904,-3.13297917359e-05,1.89540656053e-05,-2.91583213358e-05,1793244733202193152
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.350900656,714,680.649099344,659,634,879.649099344,786,805.350900656,651.350900656,631,651.350900656,0.418816037859,-0.00553739898401,0.0599968426591,0.999999998895,-3.37520232029e-05,-7.15401523373e-06,-3.19332564129e-05,1793244733218859520
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.92520037,714,680.07479963,659,634,879.07479963,786,805.92520037,651.92520037,631,651.92520037,0.419659046502,-0.00553522671083,0.0599751654712,0.999999998165,-2.89140399088e-05,-3.96881937922e-05,-3.54929901778e-05,1793244733235526144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.499537453,659,634,879,786,805.500462547,652,630.500462547,652,0.420489314224,-0.00553346508843,0.059946585581,0.999999995666,-2.92254720337e-05,-7.96705562956e-05,-3.83068836472e-05,1793244733252193024
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.92360615,714,681,659,634,879.07639385,786,805,651.92360615,630,651.92360615,0.421321614923,-0.00553229256003,0.0599169184891,0.999999991019,-3.08948172551e-05,-0.000123897553425,-4.06930386236e-05,1793244733268859904
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.329722162,714,681,659,634,879.670277838,786,805,651.329722162,630,651.329722162,0.422180610908,-0.00553469397879,0.0598868888066,0.999999980573,-3.65390866311e-05,-0.000189322178219,-4.09382796005e-05,1793244733285526272
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.256842248,714,680.743157752,659,634,879.743157752,786,805,651.256842248,630,651.256842248,0.423101107814,-0.00553886695303,0.0598974937186,0.999999982716,-4.49361713832e-05,-0.000175728867583,-4.08416760736e-05,1793244733302192896
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.834270569,714,680.165729431,659,634,879.165729431,786,805,651.834270569,630,651.834270569,0.424098369226,-0.00554525115264,0.0599588180278,0.999999995559,-5.67692734269e-05,-6.35067381649e-05,-4.03183879506e-05,1793244733318859520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.410092695,745,714,680,659,634,879,786,805.410092695,652,630.410092695,652,0.425057839703,-0.00554759020979,0.0600028902323,0.999999997446,-5.8944258319e-05,8.51858512428e-06,-3.95122158826e-05,1793244733335526400
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.985268213,745,714,680,659,634,879,786,805.985268213,652,630.985268213,652,0.42600209738,-0.00554830089437,0.0600400175979,0.999999995546,-5.72313672841e-05,6.43626764577e-05,-3.85921689345e-05,1793244733352193024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.426141448,745,714,680,659,634,880.147717103,786,806,652,631,651.426141448,0.426908530941,-0.00554862652116,0.0600250158094,0.999999996178,-5.64962227154e-05,5.33390329072e-05,-4.00841949216e-05,1793244733368859648
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.160136779,634,880.679726442,786,805.839863221,652,631,651.160136779,0.427818216045,-0.00554851437236,0.0600069282693,0.999999996907,-5.690239781e-05,3.45808813608e-05,-4.18551162821e-05,1793244733385526528
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.739439898,634,879.521120205,786,805.260560102,652,631,651.739439898,0.428739014658,-0.00554728281699,0.0599843503514,0.99999999721,-6.02287627865e-05,1.78074991243e-07,-4.41900984728e-05,1793244733402192896
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.316219849,713.683780151,680.316219849,659.683780151,634,879.316219849,786,805,652,631,651.683780151,0.429615334735,-0.00554622555291,0.0599536386312,0.999999995985,-5.58155987415e-05,-5.30538678309e-05,-4.58208601678e-05,1793244733418859776
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.890937181,713.109062819,680.890937181,659.109062819,634,879.890937181,786,805,652,631,651.109062819,0.430455295286,-0.00554531076527,0.0599162778438,0.999999990483,-4.50756690542e-05,-0.000121677898822,-4.68759486214e-05,1793244733435526656
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.449671864,745.550328136,713.449671864,681,659.449671864,634,880,786,805,652,631,651,0.431405149684,-0.00554678825582,0.0599373594837,0.999999993885,-6.17185922774e-05,-7.85721618244e-05,-4.73984934782e-05,1793244733452193536
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.994837533,660,633.994837533,880,786,805.005162467,652,631,651.005162467,0.432380209841,-0.00554882679343,0.0599721296386,0.999999995247,-8.44606964995e-05,-9.44692599118e-06,-4.77800883774e-05,1793244733468860160
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680.380429251,660,633.380429251,880,786,805.619570749,652,631,651.619570749,0.433292368988,-0.00555095287338,0.0600069559956,0.999999995588,-7.01145502825e-05,4.20722740135e-05,-4.62474163988e-05,1793244733485526784
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680.219975841,660,633.219975841,880,786.219975841,806,652,631,652,0.434194059113,-0.00555223966937,0.0600185151441,0.999999995378,-6.22549388508e-05,5.69179937034e-05,-4.61354940793e-05,1793244733502193408
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680.797613074,660,633.797613074,880,786.797613074,806,652,631,652,0.435078727673,-0.00555216186371,0.059992243861,0.99999999665,-6.49418610133e-05,1.21358645854e-05,-4.83335857528e-05,1793244733518860032
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.643980294,634,880,787,806,652,631,652,0.435916771155,-0.00555456631115,0.0599628155894,0.999999994688,-7.98515250592e-05,-4.12473122131e-05,-5.04578464658e-05,1793244733535526912
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,681,659.095945497,634,880,787,806,652,631,652,0.43672966789,-0.00555830953296,0.0599316846344,0.999999988556,-0.000101353382544,-9.9269361342e-05,-5.25422870543e-05,1793244733552193792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.499494937,745,714,681,659,634,880,787,806,651.499494937,631,652,0.437532358747,-0.00555426262161,0.05991373757,0.999999984933,-9.0589374597e-05,-0.00013815687609,-5.32970542177e-05,1793244733568859904
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.104356688,659,634,880,787,806,651.104356688,631,652,0.438334936083,-0.00554935678003,0.0599022427164,0.999999982079,-7.55762494873e-05,-0.000165014105231,-5.3849343241e-05,1793244733585526528
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.694820564,659,634,880,787,806,651.694820564,631,652,0.439147073962,-0.00554815110365,0.0599077697702,0.999999983886,-7.26675892004e-05,-0.00015474871247,-5.47729520992e-05,1793244733602193408
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.721910519,659,634,880,787,806,651.721910519,631,651.721910519,0.439977984938,-0.00555120944647,0.0599311392231,0.999999988481,-7.84336006139e-05,-0.000118035047234,-5.43547490445e-05,1793244733618860288
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.146338356,659,634,880,787,806,651.146338356,631,651.146338356,0.440828978145,-0.00555882916963,0.059973595355,0.999999992847,-9.34792316043e-05,-5.30286794076e-05,-5.25011595408e-05,1793244733635526912
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,880,786.568127162,806.431872838,651.431872838,631,651.431872838,0.441562896103,-0.00555986995272,0.0599570823027,0.999999990267,-9.90816886096e-05,-8.33513593838e-05,-5.19750572779e-05,1793244733652193280
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.010875659,659,633.989124341,880,786,806.989124341,652,631,651.989124341,0.442255889922,-0.00555863966301,0.059919942416,0.999999982766,-0.000101243166315,-0.000146683401853,-5.19791716066e-05,1793244733668859904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.584284975,659,633.415715025,880,786,806.415715025,652,631,651.415715025,0.442896651791,-0.00555595490929,0.0598557760641,0.999999966277,-9.1946457465e-05,-0.000236337720533,-5.59990157046e-05,1793244733685526528
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806,652,631,651.163740925,0.443539657246,-0.00555448274383,0.0598052293742,0.99999994736,-8.5530381491e-05,-0.000307272696835,-5.95619867621e-05,1793244733702193408
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806,652,631,651.759137195,0.4441885774,-0.00555620721421,0.0597905869493,0.999999940249,-8.67082562491e-05,-0.00032885959312,-6.19205467727e-05,1793244733718860032
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.657986151,632.657986151,880.342013849,786,806.342013849,652,630.657986151,652,0.444826394555,-0.00555881862156,0.0597838355359,0.999999934467,-8.98244473151e-05,-0.000345021126279,-6.29049197235e-05,1793244733735526912
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.083615103,632.083615103,880.916384897,786,806.916384897,652,630.083615103,652,0.445456668521,-0.00556203259562,0.0597824451149,0.999999929674,-9.4257490687e-05,-0.000357496777664,-6.29556980165e-05,1793244733752193536
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.51135256,632,880.51135256,785.51135256,807,651.51135256,630,652,0.446007371596,-0.00555630746317,0.0597537125219,0.999999909863,-9.64555678537e-05,-0.00040822186733,-6.57595935751e-05,1793244733768860160
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,785,807,651.063119393,630,652,0.446545036895,-0.00555011146071,0.0597230088097,0.999999887047,-9.86620489437e-05,-0.000459799682443,-6.89613717875e-05,1793244733785526784
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,785,807,651.659283755,630,652,0.447087089635,-0.00555280111997,0.0597150006486,0.999999884579,-0.000104155319463,-0.000463543002246,-7.15619159895e-05,1793244733802193408
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.7534753,880,785,807,652,630,651.7534753,0.447627914241,-0.00555740793168,0.0597175841107,0.99999988824,-0.000109602036962,-0.000454017678294,-7.33140814833e-05,1793244733818860288
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.178136438,880,785,807,652,630,651.178136438,0.448167100721,-0.00556457183738,0.0597342946598,0.999999899579,-0.000114986661636,-0.00042679466279,-7.39346808747e-05,1793244733835527168
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880.396681486,785,807,652,630,651,0.448638959757,-0.00557078754825,0.0597249815187,0.999999891656,-0.000121224008623,-0.000443038450915,-7.55588885383e-05,1793244733852193536
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631,880.97126583,785,807,652,630,651,0.449080623975,-0.00557657801538,0.0597039973305,0.999999874201,-0.000127843783037,-0.000478776134772,-7.76331922648e-05,1793244733868860160
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.561009106,745,714,682,656.438990894,631,880.438990894,785,806.438990894,652,630,651.561009106,0.449453241622,-0.00558126308666,0.0596659340445,0.99999984483,-0.000130813941405,-0.000535617491593,-7.96353820023e-05,1793244733885526528
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.272466559,745.727533441,714,682,656,631,880,784.272466559,806.727533441,651.272466559,630,652,0.450186071939,-0.00559042562605,0.0596139755379,0.99999980638,-0.000110760351324,-0.000608027498837,-7.2621280949e-05,1793244733918859776
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.696240015,745.696240015,714,682,656.303759985,630.696240015,880,784.303759985,806.696240015,651.303759985,630,652,0.450545795571,-0.00558985512901,0.0596118279239,0.999999809658,-8.11820150911e-05,-0.000608388738895,-6.29039425842e-05,1793244733935526656
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.122440132,745.122440132,714,682,656.877559868,630.122440132,880,784.877559868,806.122440132,651.877559868,630,652,0.45090092084,-0.00558472874421,0.0596240387378,0.999999824822,-4.09564766297e-05,-0.000588321877067,-5.05609755796e-05,1793244733952193280
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.453692073,745,714,682,656.546307927,630,880,784.546307927,806.453692073,652,630,652,0.451222195318,-0.00557361456045,0.0596308942065,0.999999830432,-7.66441981507e-05,-0.00057508864953,-5.03505948125e-05,1793244733968859904
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.031269254,714,682,656,630,880,784,806.968730746,652,630,652,0.45153182451,-0.0055615641353,0.0596362657042,0.999999831158,-0.000129931366856,-0.000563877377507,-5.33366341795e-05,1793244733985526528
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.623416613,714,682,656,630,880,784,806.376583387,652,630,652,0.451797281999,-0.00556185557673,0.0596410770445,0.999999835728,-0.00012952391766,-0.000555683121808,-5.46225955907e-05,1793244734002193152
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.790366724,714,682,655.790366724,630,880,784,806,652,630,652,0.452046148934,-0.00556463554154,0.0596423634286,0.999999837162,-0.000131170381983,-0.000552584736529,-5.58626703145e-05,1793244734018860032
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713.651786491,682,655.348213509,629.651786491,880,784,806,652,629.651786491,652,0.452458000831,-0.00557614387624,0.0596289487841,0.999999826109,-0.000138220504962,-0.000570331964654,-5.82906839115e-05,1793244734052194304
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.096857532,682,655.903142468,629.096857532,880,784,806,652,629.096857532,652,0.452633397038,-0.00557889452623,0.0596182262062,0.999999817049,-0.000138006340346,-0.00058591985658,-5.9623011844e-05,1793244734068860928
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.685294272,714,682,655,629.314705728,880,783.685294272,806,651.314705728,630,652,0.45306798969,-0.00558196305726,0.0596122398151,0.999999808882,-0.000133603195793,-0.000600482979818,-6.16902291598e-05,1793244734118860544
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.72893146,714,682,655,629,880,783.72893146,806.27106854,651.27106854,630,652,0.453181234117,-0.00558293933641,0.0596119426512,0.999999807997,-0.000132125904874,-0.000602286093656,-6.16488721821e-05,1793244734135527680
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.151459099,714,682,655,629,880,783.151459099,806.848540901,651.848540901,630,652,0.453280967698,-0.00558204952132,0.059610411604,0.999999807229,-0.000127419624465,-0.000604565475629,-6.17069336388e-05,1793244734152194304
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,880.999335847,783.999335847,806.000664153,652,629.000664153,652,0.453427879919,-0.00558712523779,0.0595984102755,0.999999792209,-0.000133256357455,-0.000627658513855,-6.22122663182e-05,1793244734185527552
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.827590309,714,681.172409691,655,629,880,783,807,652,629.827590309,652,0.453537001285,-0.00558583465103,0.0595938100838,0.999999788064,-0.000129618895208,-0.000634967288502,-6.23480977143e-05,1793244734218860288
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.247515543,714,681.752484457,655,629,880,783,807,652,629.247515543,652,0.453580288691,-0.00558502656273,0.0595946535137,0.999999789339,-0.000127543281817,-0.000633373167303,-6.23939749071e-05,1793244734235527936
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.330475996,714,682,655,629,880,783,806.669524004,652,629.330475996,652,0.453615742719,-0.00558389750757,0.05959498277,0.999999789574,-0.000126900312848,-0.000633100084865,-6.27077897872e-05,1793244734252194304
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.906917099,714,682,655,629,880,783,806.093082901,652,629.906917099,652,0.453645366561,-0.00558252956463,0.0595949293396,0.999999789038,-0.000127323625465,-0.000633810218732,-6.32210240646e-05,1793244734268860160
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+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.607698215,682,654.607698215,629,880,783,807.215396431,652,629.392301785,652,0.453708675738,-0.00558048113383,0.0595918363025,0.999999786497,-0.00011934230611,-0.000639537560823,-6.12826717359e-05,1793244734368859392
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713.554391393,682,654.554391393,628.445608607,880,783,806,652,630,652,0.453711137587,-0.00558209202338,0.0595905589449,0.999999784368,-0.000120978179998,-0.000642624200336,-6.0524958643e-05,1793244734402192640
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.861897052,655,628.138102948,880,783,806.138102948,652,629.861897052,652,0.453710791632,-0.0055817755283,0.059589642784,0.999999783103,-0.000121653093261,-0.000644474965447,-6.03932760247e-05,1793244734418859264
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.282832869,655,628.717167131,880,783,806.717167131,652,629.282832869,652,0.45371223863,-0.00558026817529,0.0595900530714,0.999999784114,-0.000119900007669,-0.000643173102945,-6.10334000172e-05,1793244734435525888
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.875416454,655,629,880.875416454,783,807,652,629.875416454,652,0.453712829314,-0.00558174798124,0.0595878251899,0.999999783133,-0.000122002898563,-0.000644311455326,-6.09287289781e-05,1793244734468859392
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,654.550811921,629,880.550811921,783,807.449188079,652,629.550811921,652,0.453713129365,-0.00558119514938,0.0595881958681,0.999999782932,-0.000122415461784,-0.000644537556106,-6.10104434118e-05,1793244734485526016
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.61264416,714,682,654.61264416,629,880.61264416,783.61264416,807.38735584,652,629.61264416,652,0.453715247698,-0.00557960004226,0.0595897582985,0.999999783724,-0.000121725495096,-0.000643399029439,-6.1415948735e-05,1793244734518859520
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,682.781433181,655,629,880.218566819,784,807,652,630,652,0.453714379407,-0.00557549548364,0.0595883561939,0.999999782718,-0.000114947820402,-0.000646176495811,-6.16954190694e-05,1793244734552192768
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,682.641361112,654.641361112,628.641361112,880,784,806.641361112,652,629.641361112,652,0.453714319831,-0.00557555585371,0.059587215802,0.999999781855,-0.000114826662853,-0.000647549034086,-6.15172142871e-05,1793244734568859392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.066697977,654.066697977,628.066697977,880,784,806.066697977,652,629.066697977,652,0.453715103782,-0.00557734182994,0.0595862107506,0.999999781153,-0.000117477577635,-0.000648190070614,-6.11722931198e-05,1793244734585526016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682,654,628,880,783.493687321,806,652,629.506312679,651.493687321,0.453716130853,-0.00557844375279,0.0595874345569,0.999999782404,-0.000120402419409,-0.000645730289913,-6.10468523262e-05,1793244734602192640
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+246,4.100000000,HOLD_POSE2,765,745,714,682,655,629,880,783,807,652,630,652,0.453718593615,-0.00557298549785,0.0595886172931,0.999999784892,-0.000111586978955,-0.000643483059394,-6.07713444142e-05,1793244734673605888
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+249,4.150000000,HOLD_POSE2,765,745.257705345,714,682,654,629,880.257705345,783,807,652,629.257705345,651.742294655,0.453718267126,-0.00558019227112,0.0595881869421,0.999999783967,-0.000120818436308,-0.000643284307223,-6.04530749907e-05,1793244734723605504
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+260,4.333333333,HOLD_POSE2,764.884379221,745.884379221,714,682,654,628.884379221,880.884379221,783,807,652,630,652,0.453718877388,-0.00557696650393,0.0595877049605,0.999999783466,-0.000115712803772,-0.000645039555994,-6.00165916846e-05,1793244734906939392
+261,4.350000000,HOLD_POSE2,764.313521157,745.313521157,714,682,654,628.313521157,880.313521157,783,807,652,630,652,0.453718648219,-0.00557768273044,0.0595872506074,0.999999782737,-0.000117648514045,-0.000645817543981,-6.00441503153e-05,1793244734923606016
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,629,881,783,806,652,630,652,0.453720744202,-0.00557695265519,0.0595887311261,0.999999784353,-0.00011917787563,-0.000642981219841,-6.05520420938e-05,1793244734960578816
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.423127135,714,682,655,629,880.423127135,783,806.576872865,652,629.423127135,652,0.453720805409,-0.00557510054145,0.0595884335514,0.999999784447,-0.000114030397949,-0.000643781077694,-6.04129011291e-05,1793244734977245440
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.152367117,654.847632883,628.847632883,880,783,807,652,629,652,0.453720527451,-0.00557433045024,0.059587973226,0.999999784081,-0.000111462342419,-0.000644811191314,-6.02702721595e-05,1793244734993912320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.724067385,654.275932615,628.275932615,880,783,807,652,629,652,0.45371931607,-0.00557653821844,0.0595870649905,0.999999782501,-0.000115993174527,-0.000646474997498,-6.01180437408e-05,1793244735010579200
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.692834627,654.307165373,628,880,783,807,652,629,651.692834627,0.453718904354,-0.00557797211621,0.0595866199538,0.999999781813,-0.000118454684838,-0.000647108482706,-5.9947574931e-05,1793244735027245568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.099103318,654.900896682,628,880,783,807,652,629,651.099103318,0.453719238674,-0.0055786840415,0.0595866070524,0.999999781973,-0.00011898564805,-0.000646780743287,-5.97600889959e-05,1793244735043912192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.481327912,714,682,655,628.481327912,880.962655825,783,807,652,629.481327912,651.481327912,0.453719644025,-0.0055754370898,0.0595866306056,0.999999783049,-0.0001152746887,-0.000645733366788,-6.03543622151e-05,1793244735060578816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.941082962,714,682,654.941082962,628.941082962,881.882165924,783,807,652,629.941082962,652,0.453719964659,-0.00557203534131,0.0595867133385,0.999999784121,-0.000111310751219,-0.000644711865869,-6.09521930451e-05,1793244735077245440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.365050074,714,682,654.365050074,628.365050074,880.730100148,783,807,652,629.365050074,652,0.453719416814,-0.00557423684935,0.059587251385,0.999999783719,-0.000112586082862,-0.000645182998227,-6.02064810838e-05,1793244735093912064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628.210624103,880.210624103,783,807,652,629,651.789375897,0.453716768358,-0.00557560824947,0.0595865214224,0.999999782525,-0.000114070657625,-0.000646805713104,-5.98411108463e-05,1793244735110578944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628.785677567,880.785677567,783,807,652,629,651.214322433,0.453710485351,-0.00557554336692,0.059583597505,0.99999977995,-0.000115917272187,-0.000650420937205,-6.01338215457e-05,1793244735127245312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628.630315968,880.630315968,783,807,652,629,651.369684032,0.453689128946,-0.00557517447531,0.0595738324572,0.999999769552,-0.000116937284197,-0.000666005060488,-6.04905995108e-05,1793244735143912192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628.040990166,880.040990166,783,807,652,629,651.959009834,0.453658816924,-0.00557462496164,0.0595600028625,0.999999754093,-0.00011746618384,-0.00068870031107,-6.08854420053e-05,1793244735160578816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.540169726,654,628.540169726,880.540169726,783,806.459830274,652,629.540169726,652,0.453607319971,-0.00557334632003,0.0595399573992,0.999999733592,-0.000117383321372,-0.000717778146317,-6.19045130765e-05,1793244735177245440
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.119217829,714,682.880782171,654,628.880782171,880.880782171,783,806,652,629.880782171,652,0.453551631168,-0.00557153887177,0.0595208911608,0.999999714403,-0.000116544402262,-0.000744074937933,-6.29542903636e-05,1793244735193912320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.692547297,714,682.307452703,654,628.307452703,880.307452703,783,806,652,629.307452703,652,0.453486007488,-0.00556792476488,0.0595073248052,0.999999704319,-0.00011299978999,-0.000757961086963,-6.39432855505e-05,1793244735210578944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.733172476,714,682,654,628,880.266827524,783,806,651.733172476,629,651.733172476,0.453413253142,-0.00556518790936,0.0594968625324,0.999999695553,-0.000110542016308,-0.000769758314439,-6.43916136288e-05,1793244735227245824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.157792851,714,682,654,628,880.842207149,783,806,651.157792851,629,651.157792851,0.453332253092,-0.00556346548369,0.0594899897375,0.999999688431,-0.000109341033469,-0.000779139969036,-6.42147288996e-05,1793244735243912448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.432020944,654,628.432020944,881,783,806,651.432020944,629,651,0.453240571818,-0.00556095708961,0.0594892529662,0.99999968812,-0.000106303620564,-0.000780029096542,-6.33571723875e-05,1793244735260579072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.973725852,654,628.973725852,880.973725852,783,806.026274148,652,629.026274148,651.026274148,0.453144033427,-0.00555805242016,0.0594910373353,0.999999690637,-0.00010257513782,-0.000777384466057,-6.22759925826e-05,1793244735277245696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.400594127,654,628.400594127,880.400594127,783,806.599405873,652,629.599405873,651.599405873,0.453030406682,-0.00555308132598,0.0594970370872,0.999999698295,-9.89061609247e-05,-0.000767981678037,-6.18937527486e-05,1793244735293912064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.173759188,628.173759188,880,783,807,652,629.826240812,652,0.452905280932,-0.00554856466582,0.0595024163041,0.999999705027,-9.49332141982e-05,-0.000759743547232,-6.10206771939e-05,1793244735310578688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.750948683,628.750948683,880,783,807,652,629.249051317,652,0.452753457061,-0.00554510310138,0.0595063547751,0.99999970977,-9.02545174523e-05,-0.000754209493665,-5.9007989996e-05,1793244735327245312
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.664686305,629,880,783,807,652,629,652,0.452586418736,-0.00554010417787,0.0595081424844,0.999999712196,-8.59287631609e-05,-0.000751600040105,-5.76380402807e-05,1793244735343912192
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.074875135,629,880,783,807,652,629,652,0.452407832879,-0.00553393842425,0.059508297802,0.999999712879,-8.18708857857e-05,-0.000751210308369,-5.6755917332e-05,1793244735360579072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.504933091,654.504933091,629,880,783.504933091,806.495066909,652,629,652,0.452195390004,-0.00552680065285,0.0595086719366,0.999999710405,-7.73130126927e-05,-0.000755041594871,-5.58921507172e-05,1793244735377245952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.91702892,655,629,880,784,806.08297108,652,629.08297108,652,0.451972687024,-0.00551965176072,0.0595094071273,0.999999708381,-7.22538198485e-05,-0.000758298983961,-5.47675364577e-05,1793244735393912576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.340867497,655,629,880,784,806.659132503,652,629.659132503,652,0.451718259763,-0.00551327689217,0.0595120993522,0.999999711922,-6.46468725121e-05,-0.000754496767765,-5.2076545597e-05,1793244735410578944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880,784,807,652,630,652,0.451447607803,-0.00550599867827,0.0595158776934,0.999999716526,-5.73061567486e-05,-0.000749139035826,-4.9544073345e-05,1793244735427245568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629,880,784,807,652,630,652,0.451153451334,-0.00549741179927,0.0595212294781,0.999999722685,-5.0351127898e-05,-0.000741527847311,-4.72412452442e-05,1793244735443912192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.4115726,714,682,655,629,880,783.5884274,807,652,630,651.5884274,0.450829615908,-0.00548841730354,0.0595194533204,0.999999721632,-4.05688783663e-05,-0.000743665527133,-4.5306022672e-05,1793244735460578560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.990676098,714,682,655,629,880,783.009323902,807,652,630,651.009323902,0.450493699651,-0.00547925688735,0.0595147757289,0.999999717535,-2.96358069632e-05,-0.000749771490328,-4.35204342232e-05,1793244735477245184
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.436151017,714,682.563848983,655,629,880.563848983,783.563848983,807,652,630,651.563848983,0.450107574286,-0.00547029816898,0.0595047539364,0.999999707107,-2.14181862998e-05,-0.000763919895824,-4.1866398938e-05,1793244735493912064
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.862172658,655,629.137827342,880.862172658,784,807,652.137827342,630,652,0.449711819211,-0.00546218213982,0.0594966104851,0.999999698417,-1.37138007243e-05,-0.000775491854076,-3.98828918971e-05,1793244735510578944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.28531958,655,629.71468042,880.28531958,784,807,652.71468042,630,652,0.449288007544,-0.00545673984312,0.0594947287408,0.99999969631,-7.50269785345e-06,-0.000778437760559,-3.68430513346e-05,1793244735527245824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.29889232,655,630,880,784,807,652.70110768,630,652,0.448850148511,-0.00544978127393,0.0594993226248,0.999999702211,-8.58526160737e-08,-0.000771001216988,-3.3698114632e-05,1793244735543912448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.89030626,655,630,880,784,807,652.10969374,630,652,0.448398541475,-0.00544133874997,0.0595102541131,0.999999715692,8.51103609655e-06,-0.000753403518809,-3.0450321477e-05,1793244735560578816
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.528855218,655.471144782,630.471144782,880,784,807,652,630,652,0.447927378278,-0.00543859628364,0.0595288520303,0.999999737955,1.06169438668e-05,-0.000723352626542,-2.71671506451e-05,1793244735577245440
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.049387185,745,713.950612815,682,656,631,880.049387185,784,806.950612815,652,630,651.950612815,0.447448419029,-0.00543838715944,0.0595503346497,0.999999761929,9.87842378444e-06,-0.000689552278419,-2.37087359579e-05,1793244735593912064
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.625624843,745,713.374375157,682,656,631,880.625624843,784,806.374375157,652,630,651.374375157,0.446933798535,-0.00545135663319,0.0595839674311,0.999999791154,-5.43598467605e-06,-0.000646004707877,-1.84667992074e-05,1793244735610578688
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.316745155,657.683254845,632,880,786,806,651.316745155,630.316745155,651.683254845,0.44261785557,-0.00538337500224,0.0596826664498,0.99999987858,6.05143022866e-05,-0.000489034989055,4.66795026969e-06,1793244735727245056
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,881,786,806,651.496155886,631,651.496155886,0.434607896015,-0.00539661354902,0.0597449206344,0.999999919778,0.000107040262285,-0.000385949289534,-5.34384659608e-06,1793244735893912320
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,681.074545652,659,633.074545652,880.925454348,786,806,651.925454348,631,652,0.433751424569,-0.00540527189837,0.0597588093377,0.999999931356,0.0001367283703,-0.000344365791107,2.41664952872e-06,1793244735910578944
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.647739008,659,633.647739008,880.352260992,786,806,651.352260992,631,652,0.432868536495,-0.00540211247304,0.0597781030778,0.999999935423,0.000149872629546,-0.000326487349815,9.91416549429e-06,1793244735927245568
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,681.183615441,659,633.183615441,880,786.816384559,805.183615441,651.816384559,631,652,0.431117867636,-0.00539049365357,0.0598091878013,0.999999944753,0.000179960093831,-0.000278794430677,1.9543928981e-05,1793244735960579072
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,713.601286743,681,659,633.398713257,879.601286743,786.601286743,805,652,630.601286743,651.601286743,0.430195062399,-0.00538708837059,0.0598206618687,0.999999947419,0.000183364041625,-0.000266584572129,2.17273248166e-05,1793244735977245696
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,713,681,658.446568221,633.446568221,879.553431779,786,805,652,630.553431779,651,0.42827534065,-0.00538710683325,0.0597821429156,0.999999920926,0.000190181557017,-0.000348649744733,2.05682357973e-05,1793244736010579200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.870893912,745,713.129106088,681,658,633,879.870893912,786,805.129106088,652,630.870893912,651.129106088,0.427318610768,-0.00538966412204,0.0597440287625,0.999999896033,0.000193333295506,-0.000412567531557,1.85391203327e-05,1793244736027246080
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.27983592,745,713.72016408,681,658,633,879,786.27983592,806,652,630,652,0.425530806495,-0.00539576018992,0.059769418451,0.999999923356,0.00016885010227,-0.000352578914198,2.15927298954e-05,1793244736060579072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.851120943,745,713.148879057,681,658,633,879,786.851120943,806,652,630,652,0.424635043685,-0.00539378500341,0.0597982931749,0.99999993018,0.000177132984717,-0.000328067019116,2.52297904155e-05,1793244736077245696
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.385399493,745,714,680.614600507,658,634,879.385399493,786,805,651.385399493,631,652,0.421947654277,-0.00538932668507,0.059839937743,0.999999949448,0.000190262970351,-0.000253224966096,2.79339927989e-05,1793244736127245312
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.765523897,745,714,680.234476103,658.765523897,634,879,785.234476103,805,651.765523897,631,652,0.420079021101,-0.00538377966991,0.059761331004,0.999999899294,0.000206756840385,-0.000397513357631,2.54491034704e-05,1793244736160578816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,658.650208636,634,879.349791364,785.349791364,805,652,631,652,0.419191932429,-0.00538234862817,0.0597295709164,0.99999988183,0.000206781101044,-0.000439365161865,2.32475260045e-05,1793244736177245440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,658.059690701,634,879.940309299,785.940309299,805,652,631,652,0.418353732068,-0.00538281824588,0.0597165322036,0.999999886724,0.000193960894091,-0.000434165048591,2.07806272889e-05,1793244736193912064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.480599976,745,714,680.519400024,658,634,880,786.519400024,805,652,630.480599976,652,0.417538671233,-0.00538049505406,0.0597597551603,0.999999909743,0.000201554074031,-0.000373302852636,2.31127898057e-05,1793244736210578688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.903520849,658.096479151,634,880,787,805,652,630.096479151,652,0.416730628647,-0.00537815822974,0.059804596647,0.999999928264,0.000210811410255,-0.00031362196071,2.59218491602e-05,1793244736227245312
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.423121779,658,633.423121779,879,786,805,652,630.576878221,652,0.413645714244,-0.00538066927377,0.0598287025203,0.999999932648,0.000218250658201,-0.000293586024427,2.96254403294e-05,1793244736293912320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.997583677,745,714,681,658,634,879.002416323,786,805.002416323,652,630,651.997583677,0.41287102334,-0.00538047788783,0.0598206303151,0.999999928213,0.000219212434926,-0.000307552127105,3.05146587597e-05,1793244736310578944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.42276131,745,714,681,658,634,879.57723869,786,805.57723869,652,630,651.42276131,0.412080497164,-0.00537619540812,0.0597702337808,0.999999898492,0.000221747721377,-0.000391285891382,2.71944693706e-05,1793244736327245312
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.324878464,745,714,680,658,634,879,786,805,652,631,652,0.410101115039,-0.00536920896152,0.059777739433,0.999999906967,0.000234770392459,-0.000361025023599,2.46876559871e-05,1793244736377245440
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.214703279,658,634,879,786.214703279,805,652,630.785296721,652,0.407193176098,-0.00537717232716,0.0598288725952,0.999999929102,0.000246858272551,-0.000282942066882,2.83153991453e-05,1793244736460578560
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.799548355,658,634,879,786.799548355,805,652,630.200451645,652,0.406689990916,-0.00537361139725,0.0598185903095,0.999999925758,0.00024568559991,-0.000295615921566,2.70820034352e-05,1793244736477245440
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,713.752278812,680,658,634,879,786.752278812,805,652.247721188,630.247721188,652,0.40249038712,-0.00537126733333,0.0598386954524,0.999999934203,0.00025663778254,-0.000253529361938,3.81311071681e-05,1793244736677245440
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfd099b5734e3b8609bd593af797cb5bacaa73f7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d554914933baa33eec333019dbdb61f6d7d950b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25809794
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d50c22c316277c7e076999f415483f8e78970f0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+58,0.966666667,BASELINE,765,744.322722759,714,680,658,634.322722759,879.322722759,786,805,652,631,651.322722759,0.400964896334,-0.00536962038529,0.0598411559601,0.999999929856,0.000263979686864,-0.000265249149269,1.56657464186e-05,1793244738455179520
+59,0.983333333,BASELINE,765,744.254415899,713.745584101,680,658,634.254415899,879,786,805.254415899,652,631,651.254415899,0.400964275601,-0.00536919485556,0.0598410781972,0.999999930003,0.000262949575477,-0.000265732402985,1.54103330653e-05,1793244738471846400
+60,1.000000000,BASELINE,765,744.829177092,713.170822908,680,658,634.829177092,879,786,805.829177092,652,631,651.829177092,0.400963470874,-0.00537048171153,0.05984050857,0.999999930394,0.00026055367479,-0.000266629019018,1.52482787866e-05,1793244738488513280
+61,1.016666667,BASELINE,765.404867506,745,713.404867506,680,658,635,879,786,805.595132494,652.404867506,631,652,0.400964677594,-0.00537035700873,0.0598414064673,0.999999930404,0.000262027968425,-0.000265133412727,1.53951087876e-05,1793244738505179648
+62,1.033333333,BASELINE,765.980950847,745,713.980950847,680,658,635,879,786,805.019049153,652.980950847,631,652,0.400966734942,-0.00536963536683,0.0598429249712,0.999999930242,0.000265138942212,-0.000262626151113,1.56725639516e-05,1793244738521846272
+63,1.050000000,BASELINE,765.427908057,745,714,679.427908057,658,635,879,786,805,652.427908057,631,652,0.40096553143,-0.00537245141149,0.0598424420406,0.999999931242,0.000260207768847,-0.000263757145153,1.55162781274e-05,1793244738538512896
+64,1.066666667,BASELINE,765,745,714,679.319833706,658,634.840083147,879,786.159916853,805.159916853,652,631,652,0.400964762788,-0.00537403581061,0.0598419189304,0.999999931734,0.000257389175385,-0.00026466004166,1.53961658022e-05,1793244738555179264
+65,1.083333333,BASELINE,765,745,714,680.475460399,658,634.2622698,879,786.7377302,805.7377302,652,631,652,0.400965421956,-0.00537208551378,0.0598414696811,0.999999930853,0.000260809887322,-0.000264641737757,1.54093438142e-05,1793244738571845888
+66,1.100000000,BASELINE,765.313337332,745,714,680.686662668,658,634,879,786.686662668,805.686662668,652.313337332,631,652,0.400965372772,-0.00537144344279,0.0598411725667,0.999999930473,0.000261942779202,-0.000264956186988,1.54254632252e-05,1793244738588512768
+67,1.116666667,BASELINE,765.8871107,745,714,680.1128893,658,634,879,786.1128893,805.1128893,652.8871107,631,652,0.400964734827,-0.00537188872767,0.0598410019019,0.999999930517,0.000261174107558,-0.000265547210054,1.54440274331e-05,1793244738605179648
+68,1.133333333,BASELINE,765.534757296,745,714,680,658,634,879,786,805,652.534757296,630.534757296,652,0.400964529596,-0.0053713025506,0.0598415743834,0.999999930672,0.000260989883223,-0.0002651419709,1.54698802525e-05,1793244738621846528
+69,1.150000000,BASELINE,765,745,714,680,658,634,879,786.045286225,805,652,630.045286225,652,0.400964481,-0.0053705313075,0.0598422813094,0.999999930782,0.000261186165993,-0.000264531208376,1.55043035085e-05,1793244738638513152
+70,1.166666667,BASELINE,765,745,714,680,658,634,879,786.635483646,805,652,630.635483646,652,0.400965041803,-0.00537057324115,0.059842415695,0.999999930018,0.00026423841289,-0.000264383724148,1.56203698623e-05,1793244738655179776
+71,1.183333333,BASELINE,765,745,713.780142892,680,658,634,879,786.780142892,805,652,631,651.780142892,0.400965193614,-0.00537072515647,0.059842255575,0.999999929637,0.000265535614294,-0.000264517700353,1.57055816641e-05,1793244738671846144
+72,1.200000000,BASELINE,765,745,713.205176102,680,658,634,879,786.205176102,805,652,631,651.205176102,0.400964684828,-0.00537105471242,0.0598416197741,0.999999929888,0.000263998094781,-0.000265106286922,1.57409577061e-05,1793244738688512768
+73,1.216666667,BASELINE,765,745,713.371609599,679.628390401,658,634,879,786,805,652,631,651,0.400964440464,-0.0053712835055,0.0598411197187,0.999999930127,0.000262639235758,-0.000265554533418,1.56991085323e-05,1793244738705179648
+74,1.233333333,BASELINE,765,745,713.949404477,679.050595523,658,634,879,786,805,652,631,651,0.400964342813,-0.0053714563909,0.0598406949808,0.99999993036,0.00026137950549,-0.000265924913061,1.56144114251e-05,1793244738721846272
+75,1.250000000,BASELINE,765.536632962,745,714,679.536632962,658,634,879,786.536632962,805,652,631,651.536632962,0.400964045873,-0.00537138749069,0.0598412002613,0.999999930507,0.000260991170104,-0.000265758859664,1.55218211246e-05,1793244738738512896
+76,1.266666667,BASELINE,765.877098255,745,714,680,658,634,879,786.877098255,805,652.122901745,631,652,0.400964159602,-0.00537100773443,0.059841836236,0.999999930609,0.000261105241172,-0.000265270706937,1.54203683153e-05,1793244738755179776
+77,1.283333333,BASELINE,765.29775603,745,714,680,658,634,879,786.29775603,805,652.70224397,631,652,0.400965869536,-0.00536955967828,0.059842626113,0.999999930569,0.000262774598487,-0.000263777516836,1.52888146492e-05,1793244738771846656
+78,1.300000000,BASELINE,765.280777186,745,714,680,658,634,878.719222814,786,805.280777186,653,631,652,0.400965831776,-0.00536951342242,0.0598423089066,0.999999930655,0.000262187892525,-0.000264037180618,1.522477205e-05,1793244738788513280
+79,1.316666667,BASELINE,765.858454902,745,714,680,658,634,878.141545098,786,805.858454902,653,631,652,0.400963945963,-0.0053709494639,0.0598408210434,0.99999993087,0.000259215571052,-0.000266150354217,1.52321172796e-05,1793244738805179648
+80,1.333333333,BASELINE,765.567182621,745,714,680,658,634.432817379,878.432817379,786,806,652.567182621,631,652,0.40096313044,-0.00537089927783,0.0598405129915,0.999999930405,0.000260513555604,-0.000266623124356,1.53068123124e-05,1793244738821846528
+81,1.350000000,BASELINE,765,744.993711049,714,680,658,634.993711049,879,786,805.993711049,652,631,652,0.400962678621,-0.0053703887183,0.0598405954036,0.999999929733,0.000263150727728,-0.00026654735219,1.54048104077e-05,1793244738838513408
+82,1.366666667,BASELINE,765,744.403049472,714,680,658,634.403049472,879,786,805.403049472,652,631,652,0.400963745531,-0.00537192016204,0.05984138038,0.999999930596,0.000261446337308,-0.000264970364241,1.56370735755e-05,1793244738855180032
+83,1.383333333,BASELINE,765,744.183585542,714,679.816414458,658,634.183585542,879,786,805,652,631,652,0.400964786112,-0.00537244354242,0.0598421576479,0.999999931262,0.000260174749632,-0.000263703069005,1.57008233659e-05,1793244738871846400
+84,1.400000000,BASELINE,765,744.761570348,714,679.238429652,658,634.761570348,879,786,805,652,631,652,0.400965770131,-0.00537080128716,0.0598429183558,0.999999931514,0.000259832957537,-0.000263101090456,1.54025536665e-05,1793244738888513024
+85,1.416666667,BASELINE,765,745,714,679.673808347,658,634.663095826,879,786,805.336904174,652.336904174,631,652,0.400965934509,-0.00537021231792,0.0598429621076,0.999999931526,0.000259841061291,-0.000263050661121,1.53611033212e-05,1793244738905179904
+86,1.433333333,BASELINE,765,745,714,680.820752985,658,634.089623508,879,786,805.910376492,652.910376492,631,652,0.400965523349,-0.00537036294758,0.0598425024256,0.999999931369,0.000260094855735,-0.000263387519916,1.54999869969e-05,1793244738921846528
+87,1.450000000,BASELINE,765,745,714,680.501981613,658,634,879,786,806,652.501981613,631,652,0.400966068212,-0.00537079549129,0.0598423929685,0.999999931439,0.000260251850533,-0.00026296770939,1.54479302377e-05,1793244738938513152
+88,1.466666667,BASELINE,765.086614552,744.913385448,714,679.913385448,658,634,879,786.086614552,806,652.086614552,631,652,0.400966558895,-0.00537130227854,0.0598423234461,0.99999993149,0.000260369244384,-0.000262657671864,1.54463100956e-05,1793244738955179776
+89,1.483333333,BASELINE,765.665713146,744.334286854,714,679.334286854,658,634,879,786.665713146,806,652.665713146,631,652,0.400965734619,-0.00537193429535,0.0598421121298,0.999999931192,0.000260363420157,-0.000263768724709,1.59325686058e-05,1793244738971846656
+90,1.500000000,BASELINE,765.755803063,744.244196937,714,679.244196937,658,634,879,787,806,652.755803063,631,652,0.400965040141,-0.0053723463444,0.0598420881288,0.999999931121,0.000259902929684,-0.000264478827344,1.6092010575e-05,1793244738988513024
+91,1.516666667,BASELINE,765.178158823,744.821841177,714,679.821841177,658,634,879,787,806,652.178158823,631,652,0.400964522899,-0.00537245803067,0.059842319904,0.999999931363,0.000258821599184,-0.000264641438308,1.58051893553e-05,1793244739005179648
+92,1.533333333,BASELINE,765,745,714,679.602568196,658,634,879.397431804,786.602568196,805.602568196,652.397431804,631,652,0.400964954064,-0.00537278484666,0.0598421218841,0.999999931743,0.000257711274091,-0.000264293477445,1.57349921477e-05,1793244739021846528
+93,1.550000000,BASELINE,765,745,714,679.027893371,658,634,879.972106629,786.027893371,805.027893371,652.972106629,631,652,0.40096580819,-0.00537320760427,0.059841732188,0.999999932184,0.000256588018161,-0.000263717816413,1.57614029225e-05,1793244739038513152
+94,1.566666667,BASELINE,765,745,714,679.560437371,658,634,879.439562629,786,805,652.439562629,631,652,0.400964247325,-0.00537330109641,0.0598414563673,0.99999993171,0.000257175593408,-0.000264919054605,1.60522833005e-05,1793244739055179776
+95,1.583333333,BASELINE,765,745,714,680,658,634,879,786,805,652,630.853001676,652,0.400963095484,-0.00537333615901,0.0598412608461,0.999999931255,0.000257988659094,-0.000265836082395,1.62122362524e-05,1793244739071846400
+96,1.600000000,BASELINE,765,745,714,680,658,634,879,786,805,652,630.273694133,652,0.400963508861,-0.00537324878416,0.0598412843947,0.999999930993,0.00025920820179,-0.000265650689746,1.59474655912e-05,1793244739088513024
+97,1.616666667,BASELINE,765,745,713.695937984,679.695937984,658,634,879,786.304062016,805,652,630.304062016,652,0.400963941639,-0.00537234459318,0.0598416415421,0.999999930693,0.000260881405217,-0.000265153205616,1.5769436323e-05,1793244739105179648
+98,1.633333333,BASELINE,765,745,713.11957123,679.11957123,658,634,879,786.88042877,805,652,630.88042877,652,0.400964391793,-0.00537070889714,0.059842297446,0.999999930356,0.000262960887419,-0.00026437622592,1.56690888951e-05,1793244739121846272
+99,1.650000000,BASELINE,765.455127735,745,713.455127735,679,658,634,879,787,805,652,631,652,0.400964669387,-0.00537094749948,0.0598425186975,0.999999930345,0.000263265925131,-0.000264106146154,1.57557937711e-05,1793244739138512896
+100,1.666666667,BASELINE,765.969756996,745,714,679.030243004,658,634,879,787,805.030243004,652,631,652,0.400964930135,-0.00537164572599,0.0598426239485,0.999999930443,0.000263038361249,-0.000263954636745,1.58787492554e-05,1793244739155179520
+101,1.683333333,BASELINE,765.378830053,745,714,679.621169947,658,634,879,787,805.621169947,652,631,652,0.40096571598,-0.00537176934663,0.0598426879396,0.999999930945,0.00026154787619,-0.000263541422001,1.57660262107e-05,1793244739171846400
+102,1.700000000,BASELINE,765,745,714,680,658,634,879,786.792423689,805.792423689,652.207576311,630.792423689,652,0.400965805479,-0.00537176188378,0.0598423325575,0.999999931061,0.000260864769662,-0.000263786614896,1.56384698582e-05,1793244739188513280
+103,1.716666667,BASELINE,765,745,714,680,658,634,879,786.214091672,805.214091672,652.785908328,630.214091672,652,0.400964651224,-0.0053715202904,0.0598412281253,0.999999930489,0.000261623736309,-0.000265207801318,1.54844194859e-05,1793244739205179904
+104,1.733333333,BASELINE,765,745,714,680,658,634,879,786,805,652.638605089,630.361394911,651.638605089,0.400965162963,-0.0053717865721,0.059841889827,0.99999993092,0.000260797566414,-0.000264390193252,1.55991007562e-05,1793244739221846528
+105,1.750000000,BASELINE,765,745,714,680,658,634,879,786,805,652.064790928,630.935209072,651.064790928,0.400966653933,-0.00537235137056,0.0598435896198,0.999999931934,0.000259039691394,-0.000262256675681,1.58717360178e-05,1793244739238513152
+106,1.766666667,BASELINE,765,745,714,680,658,634,879,786.523002185,805.523002185,652,631,651.523002185,0.400966514557,-0.005372190173,0.0598432889572,0.999999931573,0.000260125929719,-0.000262557232342,1.58690738608e-05,1793244739255179776
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658,635,879,787,805,652,631,652,0.400963902174,-0.00537143911373,0.0598416852877,0.999999930448,0.000261660890475,-0.000265330619308,1.54174717288e-05,1793244739297452800
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.423232561,745,714,680,658,634.423232561,879,786.423232561,805,652,630.423232561,652,0.400963714839,-0.00537091606195,0.0598413559778,0.999999929975,0.000263084525586,-0.000265704577908,1.54157328664e-05,1793244739314119680
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.152514006,805,652.152514006,630.152514006,652,0.400963614952,-0.00537108234992,0.0598411978396,0.999999929842,0.000263382894813,-0.000265906548672,1.54508111483e-05,1793244739330786304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.72544658,805,652.72544658,630.72544658,652,0.400963756126,-0.0053731488648,0.0598415115512,0.999999930647,0.000260579367807,-0.000265634419591,1.55873791974e-05,1793244739347453184
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.691446761,713.691446761,680,658,634,879,786.691446761,805,652.691446761,630.691446761,652,0.400963885764,-0.00537416574492,0.0598418280778,0.999999931426,0.000258007501212,-0.000265209413201,1.56359579332e-05,1793244739364119808
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.098978458,713.098978458,680,658,634,879,786.098978458,805,652.098978458,630.098978458,652,0.400964004788,-0.00537421680418,0.0598421471948,0.999999932182,0.000255648796966,-0.000264643736868,1.56035733507e-05,1793244739380786176
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.482057716,713.482057716,680,658,634,879,786.482057716,805,652,630.482057716,652,0.400965052236,-0.00537276211646,0.0598424702174,0.999999931854,0.000257895504508,-0.000263703439287,1.55402170018e-05,1793244739397452544
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.939516871,805,652,631,651.939516871,0.400966300307,-0.00537114492143,0.059842925925,0.999999931384,0.000260750720577,-0.000262681117949,1.54985224295e-05,1793244739414119424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.363798967,805,652,631,651.363798967,0.40096767114,-0.00537071606077,0.0598445052572,0.99999993162,0.000260920930324,-0.000261600132201,1.56942745141e-05,1793244739430785792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.211867938,652,631,651.211867938,0.400974116688,-0.00537124162053,0.0598478426643,0.999999933055,0.000260228198228,-0.000256747620436,1.59015072659e-05,1793244739447452160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.787447237,652,631,651.787447237,0.400989273943,-0.00537340562336,0.0598541981393,0.999999936458,0.000258054063316,-0.00024542057151,1.6128448731e-05,1793244739464118784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.625458712,652.374541288,630.625458712,652,0.401020752253,-0.00537431321561,0.0598661029468,0.999999941755,0.000257718925205,-0.00022314474611,1.66627932284e-05,1793244739480785664
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.031622694,652.968377306,630.031622694,652,0.401061786577,-0.00537448517696,0.0598812569011,0.999999947541,0.000258460523309,-0.000194458387332,1.73771228734e-05,1793244739497452800
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.543661945,652.456338055,630,651.456338055,0.401123797119,-0.00537608383894,0.0599000880421,0.999999952641,0.000259354371253,-0.000164665453082,1.83788918835e-05,1793244739514119424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.881751549,658,634,879,786,805.881751549,652,630,651.118248451,0.401189715217,-0.00537798866439,0.0599178971932,0.999999956714,0.000259634982756,-0.000137063249854,1.9362566658e-05,1793244739530786048
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.305828323,658,634,879,786,805.305828323,652,630,651.694171677,0.401266190805,-0.00538076788757,0.0599309502639,0.999999959657,0.000257508949079,-0.000118181056266,2.02136332686e-05,1793244739547452672
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,657.731612392,634,879,786,805,652,630.268387608,652,0.401348900561,-0.00538299310891,0.0599390786894,0.999999961257,0.000256767714639,-0.000105548704467,2.04003689119e-05,1793244739564119040
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,657.159329664,634,879,786,805,652,630.840670336,652,0.401438669256,-0.00538459103415,0.0599416309413,0.999999961627,0.000257594487709,-9.99930457716e-05,1.98348829721e-05,1793244739580785920
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,657.43053002,634,878.56946998,786,805.43053002,652,631,651.56946998,0.401547143528,-0.00538808946973,0.0599441539672,0.999999963052,0.000254285875799,-9.4234319825e-05,1.88197077837e-05,1793244739597452544
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.973764001,714,679.026235999,658,634.026235999,878.052471998,786,805.973764001,652,630.973764001,651.026235999,0.401663946997,-0.00539226073006,0.059946639146,0.999999964818,0.000249474772719,-8.8410277252e-05,1.76249738857e-05,1793244739614119168
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.397662718,714,679.602337282,658,634.602337282,879.204674564,786,805.397662718,652,630.397662718,651.602337282,0.401804056817,-0.00539516507444,0.0599485674393,0.999999966025,0.00024661414809,-8.28593793368e-05,1.63033336062e-05,1793244739630786048
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.178071379,713.821928621,679.821928621,658,634.821928621,879.821928621,786,805,652,630.178071379,652,0.401952413709,-0.00539881412392,0.0599499105775,0.999999967439,0.00024264403038,-7.76160945157e-05,1.48668325332e-05,1793244739647452672
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.752987098,713.247012902,679.247012902,658,634.247012902,879.247012902,786,805,652,630.752987098,652,0.402119149751,-0.00540412279964,0.0599499496568,0.999999969349,0.000236201331263,-7.30583474208e-05,1.31743564425e-05,1793244739664119040
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713.338662782,679,658,634,879,786,805.338662782,652,631,652,0.402308455838,-0.00540897726001,0.0599503488398,0.999999970711,0.000232058364412,-6.78051649854e-05,1.13563318403e-05,1793244739680785664
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713.932444132,679,658,634,879,786,805.932444132,652,631,652,0.402514764218,-0.00541348955529,0.059951019293,0.999999971663,0.000229647811639,-6.20281026335e-05,9.44372992298e-06,1793244739697452288
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.508972926,658,634,879,786,805.491027074,652,630.491027074,652,0.402751174147,-0.00541726986068,0.0599495105868,0.99999997316,0.000223956509108,-5.90151776408e-05,6.4501769026e-06,1793244739714119168
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.083720865,786,805.083720865,652,630.083720865,652,0.40299735287,-0.00542167757375,0.0599483720854,0.999999974863,0.000217215643706,-5.54931684236e-05,3.44025959084e-06,1793244739730785792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.661027718,786,805.661027718,652,630.661027718,652,0.403278341829,-0.00543033826246,0.0599510655054,0.999999977524,0.000206770052741,-4.68777055393e-05,1.1520010604e-06,1793244739747452416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.758019556,658,634,879.758019556,786.241980444,805.758019556,652.241980444,631,651.758019556,0.403566238772,-0.00543865089831,0.0599498152254,0.999999979586,0.000196533189578,-4.69133093652e-05,-1.59283731577e-06,1793244739764119296
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.171881508,658,634,879.171881508,786.828118492,805.171881508,652.828118492,631,651.171881508,0.403863960604,-0.00544646851415,0.0599429560028,0.999999980824,0.000186593190954,-5.92529261175e-05,-4.98704796994e-06,1793244739780786176
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713.590393069,679.409606931,658,634,879,786.590393069,805.409606931,653,630.590393069,651.409606931,0.404193635077,-0.00545461064263,0.0599311289576,0.999999980748,0.000178616170815,-8.07981331449e-05,-8.48650544836e-06,1793244739797453056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713.01083384,679.98916616,658,634,879,786.01083384,805.98916616,653,630.01083384,651.98916616,0.404536567192,-0.00546288741628,0.0599172406855,0.999999979594,0.000171453621187,-0.000106162882661,-1.20296313849e-05,1793244739814119680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.433909244,713.566090756,680,658,634,878.433909244,786.566090756,805.433909244,652.433909244,630.566090756,652,0.404916966264,-0.00546796688622,0.0599061171613,0.999999978301,0.000165598221854,-0.000125242922932,-1.70416011528e-05,1793244739830786048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.142555989,714,680,658,634,878.142555989,787,805,652,631,652,0.40531740448,-0.00547416736604,0.0599007417859,0.999999978087,0.000158628967596,-0.000134895750735,-2.1576423576e-05,1793244739847452672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.717779244,714,680,658,634,878.717779244,787,805,652,631,652,0.405776496623,-0.00548395504277,0.0599126525946,0.999999981953,0.000148203513709,-0.00011629969156,-2.45781472138e-05,1793244739864119552
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.300013178,634.300013178,879.300013178,787,805,652.300013178,631,652,0.406264987286,-0.00549380192828,0.0599347967533,0.9999999929,8.5796333604e-05,-7.81969484922e-05,-2.69293583897e-05,1793244739880786176
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.888999885,634.888999885,879.888999885,787,805,652.888999885,631,652,0.406781794741,-0.00550370584501,0.0599667977047,0.999999999007,-2.66797925718e-05,-2.13053098971e-05,-2.86539941918e-05,1793244739897452544
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.470559249,745,714,680,658.529440751,634.529440751,879.529440751,786.529440751,805,652.529440751,631,652,0.407338519536,-0.00550259878849,0.0599902806247,0.999999997174,-6.78852181853e-05,1.25626713672e-05,-2.97602043717e-05,1793244739914119424
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.950248358,744.950248358,714,680,658,634,879,786,805.049751642,652,630.950248358,651.950248358,0.407901608113,-0.0054972544517,0.0600087642994,0.999999995085,-8.72006851463e-05,3.53737586277e-05,-3.12181954904e-05,1793244739930786304
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.377802156,744.377802156,714,680,658,634,879,786,805.622197844,652,630.377802156,651.377802156,0.40843416647,-0.00547425712559,0.059995507542,0.99999999801,-5.04224577329e-05,-1.80736051364e-06,-3.78808385746e-05,1793244739947453440
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.194546242,714,680,658,634,879,786,806,652,630.194546242,651.194546242,0.408984722542,-0.00546303274571,0.0599821276166,0.999999998021,-2.7344119107e-05,-3.5989954353e-05,-4.37573365804e-05,1793244739964120320
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.766704767,714,680,658,634,879,786,806,652,630.766704767,651.766704767,0.409570211964,-0.0054746595365,0.0599685086241,0.999999996296,-3.08571280982e-05,-6.43524387655e-05,-4.81079347099e-05,1793244739980786944
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,806,652,630.646054092,652,0.410216010811,-0.00548803041452,0.0599726819596,0.999999996347,-4.36991803417e-05,-5.16168447993e-05,-5.22616353721e-05,1793244739997453312
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,806,652,630.048429135,652,0.410903330508,-0.0055026020335,0.0599891046747,0.999999996378,-6.29639437137e-05,-1.05866982184e-05,-5.62797789522e-05,1793244740014119680
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.470836537,658,634,879,786,806,652,630.529163463,652,0.411611607226,-0.00551319889984,0.0599901542117,0.999999993937,-9.3041525452e-05,-8.37703702965e-06,-5.82965991859e-05,1793244740030785792
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.104720757,745,714,679,658.104720757,634,879,786,805.895279243,652,631,652,0.412313846669,-0.0055220690767,0.059984317874,0.999999993111,-0.000102034597281,-2.05842661763e-05,-5.42558421338e-05,1793244740047452416
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.679072362,745,714,679,658.679072362,634,879,786,805.320927638,652,631,652,0.412980723458,-0.00552476759501,0.0599536806215,0.999999996272,-1.21959922306e-05,-8.20935249418e-05,-2.3840709488e-05,1793244740064119296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.739060098,745,714,679.521879804,658.739060098,634,879,786,805,652,630.739060098,652,0.413676670516,-0.00552229623035,0.0599298722821,0.999999991086,3.97271174672e-05,-0.000127032739173,-1.06110950687e-05,1793244740080785920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.147674551,745,714,680.704650898,658.147674551,634,879,786,805,652,630.147674551,652,0.414409431291,-0.00551327789761,0.059914711848,0.999999987466,4.36353125227e-05,-0.000150988207577,-1.91446475386e-05,1793244740097452800
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.435390692,745,714,681,658.435390692,634.435390692,879.435390692,786,805.435390692,652,630,652,0.415250062738,-0.00551933117508,0.0599503523193,0.999999995667,3.06587101155e-05,-8.4783611874e-05,-2.31767365574e-05,1793244740114119424
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.984451284,745,714,680.984451284,659,634.984451284,880,786,805.984451284,652,630.015548716,652,0.416125835311,-0.00553028736563,0.0600019093991,0.99999999956,1.14839794424e-05,9.39772138326e-06,-2.56772540743e-05,1793244740130786304
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.409261856,745,714,680.409261856,659,634.409261856,880,786,805.409261856,652,630.590738144,652,0.416974253057,-0.00553717011739,0.06001780518,0.999999998764,-2.85154954125e-05,3.05117692146e-05,-2.6975336728e-05,1793244740147452928
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.835114109,786,805,652,630.835114109,652,0.417816040962,-0.00554186361083,0.0600232888238,0.999999997485,-5.27447683689e-05,3.77947085578e-05,-2.86251400622e-05,1793244740164119552
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.263535709,786,805,652,630.263535709,652,0.418641476259,-0.00554115727883,0.0600030908388,0.99999999873,-3.80766965719e-05,1.09630953376e-05,-3.11424655873e-05,1793244740180785920
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.322061902,652,630.322061902,652,0.419473323705,-0.00553915112444,0.0599808643239,0.999999998744,-2.84817930704e-05,-2.35845622619e-05,-3.38324132078e-05,1793244740197452544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.919653153,652,630.919653153,652,0.420310656809,-0.00553603295024,0.0599569023688,0.999999996963,-2.32270707079e-05,-6.47334235961e-05,-3.66700417657e-05,1793244740214119424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,713.503067802,680.496932198,659,634,879.496932198,786,805.503067802,652,631,652,0.421132837456,-0.00553370851626,0.0599199525903,0.999999990285,-2.83927045328e-05,-0.000130853532246,-3.87488777019e-05,1793244740230786304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071029243,745,713.071029243,681,659,634,880,786,805,652,630.928970757,652,0.421968990884,-0.00553243303841,0.05988752891,0.999999980819,-3.5051215341e-05,-0.000188389693714,-4.05246957766e-05,1793244740247452928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.644936429,745,713.644936429,681,659,634,880,786,805,652,630.355063571,652,0.422920733504,-0.00553771111196,0.0599014329504,0.999999985894,-4.08191968126e-05,-0.000157690165673,-4.09896771267e-05,1793244740264119296
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.780548271,745,714,680.780548271,659.219451729,634,880,786,805.219451729,652,630,652,0.423885233723,-0.00554299544428,0.0599358816716,0.999999993142,-4.84250563654e-05,-9.86884006679e-05,-4.03888365038e-05,1793244740280785664
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.205046246,745,714,680.205046246,659.794953754,634,880,786,805.794953754,652,630,652,0.424870432708,-0.00554828993201,0.0600036631911,0.999999997515,-5.9012788862e-05,6.23244268634e-06,-3.80587487512e-05,1793244740297452288
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.618230062,634,880,786,806,652,630,652,0.425819974591,-0.0055501369003,0.0600368007486,0.999999995843,-5.5908598856e-05,6.17366364973e-05,-3.71000537029e-05,1793244740314118912
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.025151559,634,880,786,806,652,630,652,0.426749780311,-0.00555007567615,0.0600507629685,0.999999994256,-4.52259686218e-05,8.98888504471e-05,-3.69004208484e-05,1793244740330785536
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.449787684,652,630.550212316,651.449787684,0.427657512034,-0.00554894258347,0.0600219999102,0.999999996035,-5.99783296938e-05,5.22538436195e-05,-4.00322821156e-05,1793244740347452416
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.125008975,659,633.874991025,880,786.125008975,805.125008975,651.874991025,631,651.125008975,0.428559107541,-0.00554799352187,0.0599910575486,0.999999996626,-6.94545854847e-05,9.00700252147e-06,-4.29406720558e-05,1793244740364119296
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.700588835,659,633.299411165,880,786.700588835,805.700588835,651.299411165,631,651.700588835,0.429442109701,-0.00554787885956,0.0599590802275,0.999999996483,-5.585413129e-05,-4.39654902899e-05,-4.45118206944e-05,1793244740380786176
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.286003223,880,787,806,651,631,652,0.43033536283,-0.0055482570599,0.0599383423608,0.99999999448,-5.39152879341e-05,-7.76280467848e-05,-4.58999070535e-05,1793244740397452544
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.882079775,880,787,806,651,631,652,0.431239729595,-0.00554916960235,0.0599297898661,0.999999992721,-6.4619500687e-05,-9.03555342702e-05,-4.70895245621e-05,1793244740414119168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.460611292,745,714,681,659.460611292,634,880,786.539388708,806,651.460611292,631,651.539388708,0.432200871617,-0.00555107173045,0.0599707679671,0.999999996264,-7.06694177597e-05,-1.82618679167e-05,-4.63135520068e-05,1793244740430785792
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.965068342,745,714,681,659.965068342,634,880,786,805.965068342,651.965068342,631,651.034931658,0.433171182701,-0.00555305786653,0.0600207196273,0.999999993855,-7.45245518642e-05,6.85587730057e-05,-4.5119751697e-05,1793244740447452160
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.388956052,745,714,681,659.388956052,634,880,786,805.388956052,651.388956052,631,651.611043948,0.434066624387,-0.00555256460137,0.0600204536938,0.999999995289,-6.21594985665e-05,5.94627052493e-05,-4.49626427595e-05,1793244740464118784
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.187189333,634,880,786.187189333,805.187189333,651,631,652,0.434955546403,-0.00555343924119,0.0600098359193,0.999999996338,-6.30454580347e-05,3.53163375814e-05,-4.58395243429e-05,1793244740480785664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.763403602,634,880,786.763403602,805.763403602,651,631,652,0.435830919124,-0.00555715671999,0.0599777045029,0.999999994421,-9.14702408164e-05,-2.01082136712e-05,-4.8865289455e-05,1793244740497452288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.348401473,745,714,681,660,634,880,787,806,651.348401473,631,651.651598527,0.436668400542,-0.00555911908112,0.0599531299174,0.999999992006,-9.88888730169e-05,-6.03919760473e-05,-5.06107026969e-05,1793244740514119168
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.939518446,745,714,681,660,634,880,787,806,651.939518446,631,651.060481554,0.437479484755,-0.00555985873117,0.059933819835,0.999999990412,-9.16734715426e-05,-9.01278344359e-05,-5.14641527549e-05,1793244740530786048
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.48237674,745,714,681,660,634,880,787,806,652,631,651.51762326,0.438274213043,-0.00555729183749,0.0599163985639,0.999999986405,-8.43360771839e-05,-0.000131842882134,-5.19086238346e-05,1793244740547453440
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.093492331,659.906507669,634,880,786.906507669,806,651.906507669,631,651.906507669,0.439077701702,-0.00555524064959,0.0599074690477,0.999999983017,-7.8754213776e-05,-0.000158212112977,-5.22674061385e-05,1793244740564120320
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.665509213,659.334490787,634,880,786.334490787,806,651.334490787,631,651.334490787,0.439935570596,-0.00555775800052,0.0599409012276,0.99999999034,-8.22289056628e-05,-9.90479223584e-05,-5.24261973936e-05,1793244740580786432
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.753694641,682,659,633.753694641,880,786,806,651.246305359,631,651.246305359,0.440757088029,-0.00555979492893,0.0599615059057,0.999999992502,-8.92609318857e-05,-6.58816168245e-05,-5.1850023407e-05,1793244740597452800
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713.160535345,682,659,633.160535345,880,786,806,651.839464655,631,651.839464655,0.441527414268,-0.005561155313,0.0599640465426,0.999999991204,-0.000101302493539,-6.93262487529e-05,-5.02388514722e-05,1793244740614119168
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.422485321,745,713.422485321,681.577514679,659,633,880,786.422485321,806.422485321,651.577514679,631,651.577514679,0.442228930901,-0.00555946652964,0.0599199884269,0.999999984296,-9.73408099882e-05,-0.000138835225154,-5.15540348977e-05,1793244740630786048
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998261804,745,714,681.001738196,658.998261804,633,880,786.998261804,806.998261804,651.001738196,631,651,0.442904862718,-0.0055566600965,0.059858708354,0.999999967637,-8.74633193844e-05,-0.000232734514924,-5.39584723466e-05,1793244740647452672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.420884033,745,714,681.579115967,658.420884033,633,880,786.420884033,806.420884033,651.579115967,631,651,0.443563759054,-0.00555842915699,0.0598204833097,0.999999953996,-8.50626718667e-05,-0.000285426144251,-5.7475934364e-05,1793244740664119296
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155465662,745,714,682,658,633,880,786,806.155465662,652,631,651.155465662,0.444222239513,-0.00556053776786,0.0597929891252,0.999999942015,-8.48343012137e-05,-0.000324272309391,-6.0168872521e-05,1793244740680786432
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.729050511,745,714,682,658,633,880,786,806.729050511,652,631,651.729050511,0.444879601632,-0.00556355958742,0.0597943551854,0.999999940971,-9.04481894193e-05,-0.000325881620671,-6.06442851917e-05,1793244740697453568
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687935459,745,714,682,658,632.687935459,880,785.687935459,806.687935459,652,631,652,0.44549454303,-0.00556380963622,0.0597794387486,0.999999929325,-9.64094230058e-05,-0.000358058296564,-6.20507016609e-05,1793244740714120448
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.096479516,745,714,682,658,632.096479516,880,785.096479516,806.096479516,652,631,652,0.446071505113,-0.00556157811832,0.0597499445911,0.999999905466,-0.000102681634336,-0.000417601934711,-6.42906456882e-05,1793244740730786560
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.485364593,714,682,658,632,880,785,806.485364593,652,631,652,0.446646322852,-0.00555740757778,0.0597283894101,0.99999989373,-0.000100494337269,-0.000444784107265,-6.78795193167e-05,1793244740747453184
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.935447019,714,682,657.935447019,631.935447019,880.064552981,785,806.935447019,652,631,651.935447019,0.447219158851,-0.00555438848126,0.059712499116,0.99999988658,-9.83058961157e-05,-0.000460536100939,-7.12926275401e-05,1793244740764119808
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.362419948,714,682,657.362419948,631.362419948,880.637580052,785,806.362419948,652,631,651.362419948,0.447779677297,-0.00556341618456,0.0597290412927,0.999999896489,-0.000109096621605,-0.00043593998825,-7.12501995605e-05,1793244740780786432
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.216566092,745,714,681.783433908,656.783433908,631,880.783433908,785,806,651.783433908,630.783433908,651.216566092,0.448314294827,-0.00557117920606,0.0597349189768,0.999999899654,-0.000118990461361,-0.000425840445456,-7.20638255008e-05,1793244740797452800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.805806469,745,714,681.194193531,656.194193531,631,880.194193531,785,806,651.194193531,630.194193531,651.805806469,0.448804341122,-0.00557676591923,0.059722444838,0.999999892026,-0.000127340908673,-0.000440687095233,-7.43505781544e-05,1793244740814119168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.611054199,745,714,681.388945801,656,631,880,785,806,651.388945801,630,652,0.449236299728,-0.00558204681809,0.0596926008343,0.999999868228,-0.000133229171499,-0.000489948268821,-7.57936489286e-05,1793244740830785792
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.030913912,745,714,681.969086088,656,631,880,785,806,651.969086088,630,652,0.449639704152,-0.00558717738801,0.0596542183072,0.999999832902,-0.000137907096037,-0.000556126624836,-7.68219900675e-05,1793244740847452416
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.119330674,714,681.119330674,656,630,880.119330674,785,806.880669326,652,630,651.119330674,0.450411469399,-0.00558847609193,0.0596027013872,0.999999797765,-0.000111621558506,-0.000622027404819,-7.13609858316e-05,1793244740880785920
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.724651612,714,682,656,630,880.724651612,785,806.275348388,652,630,652,0.451163566507,-0.00558104277163,0.0596235480828,0.999999828725,-2.33312468208e-05,-0.000582920644629,-4.70054822385e-05,1793244740914120704
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.13179842,714,682,656,630,880.13179842,785,806.86820158,652,630,652,0.451510537745,-0.00557417327906,0.0596327314704,0.999999837703,-1.97968878614e-05,-0.000567296546692,-4.87450283299e-05,1793244740930787072
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630,880.449827972,784.550172028,806.550172028,652,630,652,0.451822032329,-0.00557078285243,0.059640693189,0.999999844565,-1.87305033583e-05,-0.000554933850452,-5.0666752235e-05,1793244740947453696
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630,881,784,806.028145818,652,630,652,0.45212082594,-0.00556865009002,0.0596475664909,0.999999850213,-2.13765744661e-05,-0.00054437955765,-5.2613105096e-05,1793244740964120320
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630,881,784,806.604531129,652,630,652,0.452369763965,-0.00557164268845,0.0596400415105,0.99999984339,-8.25937141178e-05,-0.000550890215831,-5.4024793758e-05,1793244740980786944
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.815899019,630,881,784,807,652,629.815899019,652,0.45260238692,-0.00557514897592,0.0596321720622,0.999999832473,-0.000132910652254,-0.000560642251144,-5.54049788827e-05,1793244740997453568
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629.647035455,880.647035455,784,807,652,629.352964545,652,0.45298126677,-0.00558060197772,0.0596140307292,0.999999807313,-0.00016667398539,-0.000595174994479,-5.79691359784e-05,1793244741030786816
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629.067398887,880.067398887,784,807,652,629.932601113,652,0.4531535291,-0.00557898204124,0.0596039361066,0.999999797047,-0.00016160655332,-0.000613421242774,-5.91844133201e-05,1793244741047453440
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,629,881,784,807,652,629,651.912822103,0.453440661268,-0.00558718137101,0.0595932069687,0.999999784177,-0.00016563880553,-0.000632903836036,-6.03460060516e-05,1793244741080786176
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.144715548,714,682,654,628.855284452,880.144715548,783.855284452,807,652,630,652,0.454053192195,-0.0055871804628,0.0596039736201,0.999999796113,-0.000151077295029,-0.000617351838272,-6.18633703491e-05,1793244741197453056
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.981196794,654,628.981196794,880.018803206,783.018803206,806.018803206,652,629,651.018803206,0.454206794757,-0.00558491004865,0.0595882704428,0.99999978459,-0.000135001288396,-0.00063961469922,-5.90567473604e-05,1793244741480785920
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.405808831,654,628.405808831,880.594191169,783.594191169,806.594191169,652,629,651.594191169,0.454206607104,-0.00558527800658,0.0595875620225,0.999999784284,-0.000136567265299,-0.000639774297758,-5.89014890834e-05,1793244741497452544
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.827056619,745.172943381,714,682,654,628,881,783.827056619,806.827056619,652,629,652,0.454206372102,-0.00558493812009,0.0595869183759,0.999999783893,-0.000136837163433,-0.000640320600193,-5.89852768493e-05,1793244741514119168
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.240253672,745.759746328,714,682,654,628,881,783.240253672,806.240253672,652,629,652,0.454206023796,-0.0055829043371,0.0595864297348,0.999999783294,-0.000134005499603,-0.000641792298581,-5.96411101737e-05,1793244741530785792
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.342055897,746,714,682,654,628,880.657944103,783.342055897,806.342055897,652,629.342055897,651.657944103,0.454205784276,-0.00558233893425,0.0595864141784,0.999999782982,-0.000132305753062,-0.000642625923211,-5.9687192203e-05,1793244741547452672
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.921250298,746,714,682,654,628,880.078749702,783.921250298,806.921250298,652,629.921250298,651.078749702,0.454205620175,-0.00558279152143,0.0595867265993,0.999999782874,-0.000131390735617,-0.000643017187751,-5.93105494051e-05,1793244741564120064
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.501059166,714,682,654,628,880,783.501059166,806.501059166,652,630,651.498940834,0.454206394021,-0.00558305472435,0.0595869722721,0.999999783198,-0.000132592832961,-0.000642288585305,-5.90581986728e-05,1793244741580786432
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.075774317,714.075774317,682,654,628,880.075774317,783,806.075774317,652,629.924225683,652,0.454207247307,-0.00558309348931,0.0595871574174,0.999999783557,-0.000133731334573,-0.000641511087266,-5.88679688861e-05,1793244741597452800
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.648538409,714.648538409,682,654,628,880.648538409,783,806.648538409,652,629.351461591,652,0.454207653578,-0.0055818556689,0.0595870144627,0.999999783709,-0.000132267666376,-0.000641568697796,-5.89568982386e-05,1793244741614119424
+247,4.116666667,HOLD_POSE2,766,745,714,682,655,628,881,783,807,652,630,652,0.45421152126,-0.00558132842147,0.0595876923866,0.999999786026,-0.00012754752988,-0.000638935010508,-5.86674936739e-05,1793244741652525056
+248,4.133333333,HOLD_POSE2,765.42575486,745,714,682,654.42575486,628,880.42575486,783,807,652,629.42575486,652,0.454210329921,-0.00558175512513,0.0595875296851,0.999999785268,-0.000129766520368,-0.000639666854578,-5.87376356637e-05,1793244741669191680
+249,4.150000000,HOLD_POSE2,765,745,714,682,654,628,880,783,807,652,629.150425267,652,0.454209577869,-0.00558245078293,0.0595873054419,0.999999784632,-0.000131656802103,-0.000640283400977,-5.86468210252e-05,1793244741685858304
+250,4.166666667,HOLD_POSE2,765,745,714,682,654,628,880,783,807,652,629.732153565,652,0.45421008535,-0.00558391759275,0.059586904745,0.999999784356,-0.000132604602519,-0.000640569363229,-5.80945075915e-05,1793244741702525184
+251,4.183333333,HOLD_POSE2,765,745.30900964,714,682,654.30900964,628,880,783,806.69099036,652,629.69099036,652,0.454210413966,-0.00558345244954,0.0595869257083,0.999999784519,-0.000131115431604,-0.000640635622484,-5.79431542875e-05,1793244741719191808
+252,4.200000000,HOLD_POSE2,765,745.881708041,714,682,654.881708041,628,880,783,806.118291959,652,629.118291959,652,0.45421058995,-0.00558133870296,0.059587306489,0.999999785047,-0.000127546707545,-0.000640514401445,-5.81339543539e-05,1793244741735858176
+253,4.216666667,HOLD_POSE2,765,746,714,682,655,628,880,783,806,651.529706498,629,651.529706498,0.454211115795,-0.00558098601491,0.0595877585086,0.999999785,-0.00012884892899,-0.000640308987377,-5.83295107319e-05,1793244741752524800
+254,4.233333333,HOLD_POSE2,765,745.938412197,714,682,654.938412197,628,880,783,806.061587803,651.061587803,629.061587803,651.061587803,0.454211776399,-0.00558123860623,0.0595882607148,0.999999784909,-0.000131199301453,-0.000639960073885,-5.84816971419e-05,1793244741769191424
+255,4.250000000,HOLD_POSE2,765,745.359112562,714,682,654.359112562,628,880,783,806.640887438,651.640887438,629.640887438,651.640887438,0.454212804189,-0.00558272552252,0.0595890289028,0.999999785732,-0.000131701489709,-0.000638589131589,-5.82589040938e-05,1793244741785858048
+256,4.266666667,HOLD_POSE2,765,745.218022244,714,682,654,628,880.218022244,783,806.781977756,652,629.781977756,651.781977756,0.454213260928,-0.0055828407746,0.0595891558322,0.999999785932,-0.000131863005,-0.000638238874,-5.8297269619e-05,1793244741802524672
+257,4.283333333,HOLD_POSE2,765,745.791626281,714,682,654,628,880.791626281,783,806.208373719,652,629.208373719,651.208373719,0.454212786313,-0.00558071892077,0.0595882369052,0.999999785117,-0.000131468902152,-0.000639553294847,-5.8761569842e-05,1793244741819191296
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+259,4.316666667,HOLD_POSE2,765,745.03684435,714,682,654,628,880.03684435,783,806.96315565,652,629.96315565,651.96315565,0.454212328544,-0.00558239818291,0.0595877615126,0.999999784877,-0.000129561825105,-0.000640396434093,-5.78949322423e-05,1793244741852525056
+260,4.333333333,HOLD_POSE2,765,745,714,682,654,628,880,783,806.458809858,652,629.458809858,652,0.454211340332,-0.00558284962462,0.0595875469062,0.999999784229,-0.000130870528974,-0.000641172312817,-5.75543727909e-05,1793244741869191680
+261,4.350000000,HOLD_POSE2,765,745.118895105,714,682,654,628,880,783,806.118895105,652,629.118895105,652,0.454210665199,-0.0055831353525,0.059587347927,0.999999783726,-0.000131955753535,-0.000641749723293,-5.73854480768e-05,1793244741885858560
+262,4.366666667,HOLD_POSE2,765,745.69802114,714,682,654,628,880,783,806.69802114,652,629.69802114,652,0.454211412391,-0.00558304992941,0.059587242562,0.999999783968,-0.000131558908623,-0.000641416041036,-5.78054113962e-05,1793244741902524928
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,654,628,880,783,807,652,629,652,0.454211949492,-0.00558379649465,0.0595866653576,0.99999978351,-0.00013517737387,-0.000641339081623,-5.82311905756e-05,1793244741940354816
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628,880,783,807,652,629.760079945,652,0.454212504268,-0.00557978625044,0.0595869113921,0.999999784693,-0.000128503585191,-0.00064086469459,-5.82589753199e-05,1793244741990355712
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628,880,783,807,652,630,652,0.454211787526,-0.00557985274863,0.0595867886656,0.999999784212,-0.00012973855151,-0.000641355890904,-5.83674810613e-05,1793244742007022592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628,880,783,807,652,630,652,0.454211474515,-0.00557980402689,0.059587200253,0.999999784144,-0.000130089202777,-0.000641375198052,-5.85388187871e-05,1793244742023689472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.483859987,714,682,654,628,880.967719974,783,806.516140013,652,629.516140013,651.516140013,0.454211942442,-0.00558172536233,0.0595877818297,0.999999784273,-0.000131248816212,-0.000640951802809,-5.83841354838e-05,1793244742040356352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628.063329761,881.873340479,783,806.063329761,652,629.063329761,651.063329761,0.454212364279,-0.00558360439797,0.0595882089347,0.999999784347,-0.000132330377572,-0.00064063155974,-5.8180396365e-05,1793244742057022976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628.656308688,880.687382624,783,806.656308688,652,629.656308688,651.656308688,0.454211131895,-0.00558192898701,0.0595870679635,0.99999978366,-0.000131444871209,-0.000641893256838,-5.80960603411e-05,1793244742073689088
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628.757079696,880.242920304,783,807,652,629.757079696,651.757079696,0.454206849987,-0.00558020755343,0.0595847787447,0.99999978211,-0.000129546610672,-0.000644677236209,-5.82222619379e-05,1793244742090355712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628.179246703,880.820753297,783,807,652,629.179246703,651.179246703,0.454198363718,-0.00557842266887,0.0595809064444,0.999999779347,-0.000126252072413,-0.000649559976424,-5.86387304293e-05,1793244742107022848
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.604569604,714,682,654,628,881,783,806.604569604,652,629,651,0.454173281037,-0.00557745019147,0.0595701206059,0.999999768159,-0.00012582680478,-0.000666600726902,-5.90956127618e-05,1793244742123689472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.03131168,714,682,654,628,881,783,806.03131168,652,629,651,0.454140734846,-0.0055768430585,0.0595562257056,0.999999752765,-0.000126691865793,-0.000689109010962,-5.95706694633e-05,1793244742140356352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.558000055,714,682,654,628,880.441999945,783,806.558000055,652,629,651.558000055,0.454086774633,-0.00557639601059,0.0595377105523,0.999999734077,-0.000127715219399,-0.000715482581655,-6.01688536032e-05,1793244742157022720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628,880.14558041,783,807,652,629.14558041,652,0.454027836397,-0.00557553431814,0.059520323338,0.999999716801,-0.000128254705477,-0.000739087299384,-6.08226843602e-05,1793244742173689088
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,654,628,880.725232924,783,807,652,629.725232924,652,0.453957744335,-0.00557340871636,0.0595070951863,0.999999705911,-0.0001273241918,-0.000753770358846,-6.16212238276e-05,1793244742190355712
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.696561477,714,682,654,628,880.696561477,783,807,652,629.696561477,652,0.453880764153,-0.00557029316028,0.0594991309414,0.999999698686,-0.000123638009738,-0.000763888938712,-6.17728713057e-05,1793244742207022336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.119659893,714,682,654,628,880.119659893,783,807,652,629.119659893,652,0.453797576304,-0.00556628544358,0.0594959106041,0.999999694851,-0.000117468380667,-0.000769893944599,-6.13415305889e-05,1793244742223688704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628,880,783,807,652,629.454323578,652,0.453699259521,-0.00556336058008,0.0594951951037,0.999999693122,-0.000116474058415,-0.000772324966014,-6.08549282899e-05,1793244742240355328
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654,628,880,783,807,652,629.971567972,652,0.453595438899,-0.0055606864164,0.0594950955138,0.999999691944,-0.000116630968025,-0.000773866806185,-6.03185312721e-05,1793244742257021952
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.359649019,745,714,682,654.359649019,628,880,783.359649019,807,652,629.359649019,651.640350981,0.452980107591,-0.00554043170392,0.0594870958336,0.999999685478,-9.85231592178e-05,-0.000784920411363,-5.68927279792e-05,1793244742323688960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.933789316,745,714,682,654.933789316,628,880,783.933789316,807,652,629.933789316,651.066210684,0.452790899879,-0.00553631026664,0.0594866853221,0.999999683946,-9.43528199487e-05,-0.000787491337962,-5.53500926093e-05,1793244742340355328
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,654.477165182,628,880,783.477165182,806.477165182,651.477165182,630,651.522834818,0.452582892528,-0.00553015403442,0.0594933033828,0.99999969201,-8.8030148249e-05,-0.000778064304451,-5.3349820208e-05,1793244742357021952
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.098244688,655,630,880,784,806.901755312,652,630,652,0.448694250327,-0.00544157463836,0.0594993627674,0.999999702156,2.44409948987e-06,-0.000771290081406,-2.81586205813e-05,1793244742540354560
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.075040039,745,714,682,656,630.075040039,880.075040039,784,807,652,630,651,0.447741028566,-0.00544361988278,0.0595326262226,0.999999738728,-2.14187372578e-06,-0.000722548492074,-2.15314378111e-05,1793244742573687808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.654405679,745,714,682,656,630.654405679,880.654405679,784,807,652,630,651,0.447227157029,-0.00546320031864,0.0595690207478,0.999999780281,-2.13253247581e-05,-0.00066240583782,-1.4180879617e-05,1793244742590354688
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.190044631,745,714,682,656,631,880.190044631,784.809955369,807,651.190044631,630,651.809955369,0.446078226536,-0.00547307286681,0.059620182697,0.999999819944,-3.66832234241e-05,-0.000598968259372,-1.99957775063e-06,1793244742623687680
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631.547631178,880,785,806.452368822,652,630.547631178,651.547631178,0.444137756301,-0.0054321486582,0.0595954960559,0.999999800043,-3.11865188276e-07,-0.000632353174634,6.52934156588e-06,1793244742673687808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.863670043,682,657,632,880.136329957,785.272659913,806,652,631,651.863670043,0.443493485525,-0.0054182187977,0.0596113868129,0.99999981885,5.22171271572e-05,-0.000599581168687,8.68829979586e-06,1793244742690354432
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.289509511,745,713,681.710490489,657.289509511,632,881,786.420980978,806,652,631,651,0.442141325998,-0.00539852545543,0.0597015338434,0.999999842036,0.000317076556584,-0.000463923693251,1.28732189675e-05,1793244742723687680
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.226100245,714,681.226100245,658.226100245,633,880,786,806,651.226100245,631,651.773899755,0.437460328774,-0.0053866333933,0.0598180571733,0.999999917813,0.000268326345801,-0.000300695910332,4.42342673419e-05,1793244742823687936
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.099014692,745,713.099014692,681,659,633.099014692,880,786,806,651.900985308,631,652,0.433944870317,-0.0054052732566,0.0597591934861,0.999999930435,0.000142711239168,-0.000344612292544,2.40876772335e-06,1793244742890355968
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.264102909,680.264102909,658,633,879,786.264102909,805,652,631,651.264102909,0.426571484745,-0.00539285623321,0.0597459346151,0.999999908927,0.00017743473533,-0.000387700935114,1.8734519915e-05,1793244743023688704
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.935063738,745,713,680.064936262,658,633,879,786,805,652,631,651.935063738,0.422969034156,-0.00538821521906,0.0598393293742,0.999999944111,0.000205437121582,-0.000262298082482,2.77905224347e-05,1793244743090354688
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.207598178,658,633,879.792401822,786,805,651.207598178,630.207598178,651.792401822,0.420209852532,-0.00538404414696,0.0597656526675,0.999999900378,0.000210106203405,-0.000392996760229,2.55468227232e-05,1793244743140354816
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.400972785,658,634,878.599027215,786,805.400972785,652,630.599027215,652,0.40627276136,-0.00537052410744,0.0598236645443,0.999999927216,0.000251810686471,-0.000285298350977,2.76386890339e-05,1793244743473688832
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.991742563,658,634,878.008257437,786,805.991742563,652,630.008257437,652,0.405822798565,-0.00536719256889,0.0598313531956,0.999999932026,0.000247739282885,-0.000271531388707,2.90656947259e-05,1793244743490355712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.571485533,745,714,680,657.428514467,634,878.571485533,786,805.428514467,652.571485533,630.571485533,652,0.405370845082,-0.00536070757791,0.0598271105549,0.999999929232,0.000252455734226,-0.000277441595869,2.87786063923e-05,1793244743507022080
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.849094297,745,714,680,657.150905703,634,879,786,805,652.849094297,631,652,0.404927366883,-0.00535447083213,0.0598176665441,0.999999923285,0.000259232229583,-0.000292270796945,2.83802834265e-05,1793244743523688448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.270146237,745,714,680,657.729853763,634,879,786,805,652.270146237,631,652,0.40450800867,-0.0053490650262,0.0597939486464,0.999999907778,0.000271498668654,-0.000331607431028,2.77353662451e-05,1793244743540355072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.693836212,652,0.404123956913,-0.0053445342097,0.0597755839805,0.999999895255,0.000280614788593,-0.000360549311813,2.73803483004e-05,1793244743557021696
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.119834027,652,0.403770791996,-0.00534076885234,0.0597619024336,0.999999886099,0.000286974943858,-0.000380397645946,2.72789402459e-05,1793244743573688320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.465618987,805,652.465618987,630.465618987,652,0.403486002164,-0.0053399604001,0.0597740771219,0.999999894372,0.000289463321925,-0.000355847833858,2.89806794426e-05,1793244743590355200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.946735989,805,652.946735989,631,652,0.4032211269,-0.00534035535929,0.0597932528158,0.999999906174,0.000290395991731,-0.000319926558767,3.11456442727e-05,1793244743607022080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.367283809,805,652.367283809,631,652,0.402974760028,-0.00534493125864,0.059814194238,0.999999917238,0.000286052115332,-0.000287395314886,3.31867112612e-05,1793244743623688704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.210810052,652,630.789189948,652,0.402739067843,-0.00535388585757,0.0598313212836,0.999999927165,0.000275418842475,-0.000261845567088,3.53623307378e-05,1793244743640355072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.786552472,652,630.213447528,652,0.402521854589,-0.00537042040392,0.0598418452765,0.999999936208,0.000253898023404,-0.000248381460625,3.77708732676e-05,1793244743657021440
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.638280869,714,680,658,634,879,786,805.638280869,652,630.361719131,652,0.402311711785,-0.00537689090318,0.0598412286653,0.999999937036,0.000244994452262,-0.000253794575262,3.8640853837e-05,1793244743673688064
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.063453367,714,680,658,634,879,786,805.063453367,652,630.936546633,652,0.402105734547,-0.00537743212769,0.0598340485208,0.999999933064,0.000243524384572,-0.000270329284044,3.86043842887e-05,1793244743690354944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.525930688,652.525930688,630.474069312,651.474069312,0.401937880501,-0.00537101828701,0.0598302448546,0.999999929643,0.000249047288278,-0.000277995339054,3.75107910744e-05,1793244743707021568
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.114757254,714,679.885242746,658,634.114757254,879,786,805.885242746,652.885242746,630.114757254,651.114757254,0.401780075872,-0.00536602588695,0.0598274985973,0.999999928142,0.000248657285483,-0.000283939462781,3.55504566343e-05,1793244743723688192
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.694016374,714,679.305983626,658,634.694016374,879,786,805.305983626,652.305983626,630.694016374,651.694016374,0.40164380061,-0.00537028024464,0.0598273365537,0.99999993386,0.000220821421531,-0.000287368058283,3.06127658107e-05,1793244743740355328
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.729065069,714,679.541869862,658,634.729065069,879,786.270934931,805,652,630.729065069,652,0.401526832817,-0.00537373182586,0.0598290231941,0.99999994191,0.000184626565491,-0.000285610670274,2.27831082798e-05,1793244743757022208
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.15476725,714,680.6904655,658,634.15476725,879,786.84523275,805,652,630.15476725,652,0.401431483393,-0.00537628454676,0.0598327797859,0.999999951606,0.000139072238634,-0.000278046592582,1.17153474299e-05,1793244743773688832
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.429772677,714,681,658,634,878.570227323,786.570227323,805,652,630.429772677,652,0.401349705719,-0.00537524489617,0.0598353775152,0.999999953876,0.000133679155917,-0.000272574917275,8.95077477266e-06,1793244743790355200
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.982181212,658,634,878.017818788,786,805,652,631,652,0.401273308404,-0.00537292566502,0.0598374488048,0.999999953511,0.000144870090724,-0.000268149439748,9.26833976831e-06,1793244743807021568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.402714104,658,634,878.597285896,786,805,652,631,652,0.401208688917,-0.00537204582617,0.0598364018633,0.999999940426,0.000211797940368,-0.000272369843985,1.01861585548e-05,1793244743823687936
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.176136136,745,713.823863864,680,658,634,879.176136136,786.176136136,805,652,630.823863864,652,0.401148123002,-0.00537116749317,0.0598340864392,0.999999928095,0.000257942720225,-0.000277776757459,1.07511342027e-05,1793244743840354560
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.753580821,745,713.246419179,680,658,634,879.753580821,786.753580821,805,652,630.246419179,652,0.401096792755,-0.00537029259122,0.0598288809044,0.999999926123,0.000256735349153,-0.000285887015208,1.05121920497e-05,1793244743857021184
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.672079181,745,713.327920819,680,658,634,879.672079181,786.672079181,805,652,630.327920819,652,0.401057156117,-0.00536925804524,0.0598262446075,0.999999924527,0.000258111925465,-0.000290184587033,1.07925986262e-05,1793244743873688320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.100050288,745,713.899949712,680,658,634,879.100050288,786.100050288,805,652,630.899949712,652,0.401026224333,-0.00536810465829,0.0598255208804,0.999999923238,0.00026141202216,-0.00029164395194,1.14596144161e-05,1793244743890355968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.511004709,634,878.511004709,786,805.488995291,652.488995291,631,652,0.40100849842,-0.00536921256876,0.0598266609823,0.999999924465,0.000259501314958,-0.000289113773262,1.19549274522e-05,1793244743907022848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.079327054,745,714,680,657.079327054,634,878.079327054,786,806,652.920672946,631,652,0.40099450898,-0.00537024010062,0.0598282045077,0.999999925957,0.000257299038776,-0.000285889073408,1.23132286885e-05,1793244743923688704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.655132647,745,714,680,657.655132647,634,878.655132647,786,806,652.344867353,631,652,0.4009863844,-0.00536776449302,0.0598298001555,0.999999925862,0.000260185152122,-0.000283610579705,1.20418235368e-05,1793244743940355072
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.767666221,745,714,680,657.767666221,634.232333779,879,786,806,652,630.767666221,652,0.400979312337,-0.00536683824406,0.0598314931162,0.999999926376,0.000260631100167,-0.000281378136599,1.2070220448e-05,1793244743957021696
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.188381123,745,714,680,657.188381123,634.811618877,879,786,806,652,630.188381123,652,0.400973812034,-0.00536822570107,0.0598333313973,0.999999927805,0.000257433072668,-0.000279214462434,1.25463211979e-05,1793244743973688320
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634.613972896,879,786.386027104,806,652,630,652,0.40097109717,-0.00536871875223,0.0598341087852,0.999999928275,0.000257378379495,-0.000277559598575,1.29540246805e-05,1793244743990354688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634.041914906,879,786.958085094,806,652,630,652,0.400969724641,-0.00536878077892,0.0598343749165,0.999999928283,0.000258838495261,-0.000276149936298,1.33287667223e-05,1793244744007021312
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.449403587,657.550596413,634.550596413,879,786.449403587,806,652,630.550596413,652,0.400970015381,-0.0053699576612,0.0598363439794,0.999999928577,0.000260579624478,-0.000273412522456,1.38046721097e-05,1793244744023688448
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.140450968,658,634.859549032,879,786.140450968,806,652.140450968,631,652,0.400969896067,-0.00537093333497,0.0598378609605,0.999999928925,0.000261301919476,-0.000271427447834,1.40787370798e-05,1793244744040355328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.717034058,658,634.282965942,879,786.717034058,806,652.717034058,631,652,0.400968095091,-0.00537101050245,0.0598375560382,0.999999929399,0.000258791511165,-0.000272104533712,1.37012050725e-05,1793244744057022464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.705881134,657.705881134,634,879,786.705881134,806,652.705881134,630.705881134,652,0.400966494276,-0.00537042448978,0.0598372128746,0.999999929319,0.000258075987346,-0.000273087803882,1.35111279246e-05,1793244744073689088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.128312742,657.128312742,634,879,786.128312742,806,652.128312742,630.128312742,652,0.400965086359,-0.00536919935424,0.0598368328568,0.999999928707,0.000259090237204,-0.000274366151401,1.35017055535e-05,1793244744090355200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.455189984,745,714,679.455189984,657.455189984,634,879,786.455189984,806,652.455189984,630.455189984,652,0.400966058049,-0.0053701960894,0.0598373200948,0.99999992933,0.000258423416589,-0.000272713582085,1.35599490423e-05,1793244744107021568
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.959795909,745,714,680,657.959795909,634,879,786.959795909,806,652.959795909,631,652,0.400967601541,-0.00537168114335,0.0598380821948,0.999999930258,0.000257333345772,-0.000270329804533,1.36430890178e-05,1793244744123687936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.377257086,745,714,680,657.377257086,634,879,786.377257086,806,652.377257086,631,652,0.400967690295,-0.00537119303207,0.059839210719,0.999999930596,0.000257010605757,-0.00026937451829,1.38013700501e-05,1793244744140354816
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.797874972,680,657.202125028,634,879,786,806,652,631,652,0.400967190416,-0.00537075379076,0.0598395563006,0.999999930593,0.000256720833681,-0.000269661232921,1.3807967556e-05,1793244744157021696
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.224294145,680,657.775705855,634,879,786,806,652,631,652,0.400965608772,-0.00537040436038,0.0598384630274,0.99999992996,0.000256491648541,-0.000272230437973,1.35358082542e-05,1793244744173688576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.350657258,680,658,634,879,786,805.649342742,652,630.649342742,652,0.400965386292,-0.00537004973327,0.0598380467451,0.999999929933,0.000256870118947,-0.000271976344143,1.34546474485e-05,1793244744190355456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.926488754,680,658,634,879,786,805.073511246,652,630.073511246,652,0.400966036596,-0.00536969176909,0.059838065192,0.999999930295,0.000257638794816,-0.000269909271417,1.34961361628e-05,1793244744207022336
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.482732645,658,634,879,786,805,652.517267355,630.517267355,652,0.400966047704,-0.00537050740241,0.0598390873481,0.999999930629,0.0002565466303,-0.000269700844833,1.36830960497e-05,1793244744223688704
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.107524048,657.892475952,634,879,786,805,652.892475952,631,652,0.400966140227,-0.00537105829527,0.0598401453487,0.999999930829,0.000255913239196,-0.000269554464227,1.38396213974e-05,1793244744240355072
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.685915954,657.314084046,634,879,786,805,652.314084046,631,652,0.40096699892,-0.0053696977225,0.0598407170764,0.999999930456,0.000258481450258,-0.000268488653295,1.37696407804e-05,1793244744257021952
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.739987824,714,680,657.260012176,634,879,786.260012176,805,652,631,652,0.400967508396,-0.00536904177647,0.0598410477195,0.999999930203,0.000260126913494,-0.000267841894309,1.37543435732e-05,1793244744273688320
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.170996203,714,680,657.829003797,634,879,786.829003797,805,652,631,652,0.400967602888,-0.00536922315715,0.0598410918755,0.999999930099,0.000260675851068,-0.000267693105854,1.38040281198e-05,1793244744290354944
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.413359038,714,680,657.586640962,634,879,786.586640962,805.413359038,652.413359038,630.586640962,652,0.40096599502,-0.00537011454207,0.0598402017466,0.999999930004,0.000259391824781,-0.000269288604843,1.3855183476e-05,1793244744307021568
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.99575294,657,634,879,786,805.99575294,652.99575294,630,652,0.400963688208,-0.00537130083996,0.0598389282643,0.999999929907,0.000257343245484,-0.000271600079863,1.39078963242e-05,1793244744323688448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.414118412,657,634,879,786,805.414118412,652.414118412,630,652,0.40096579505,-0.00537110918217,0.0598401095175,0.999999930232,0.000258417184148,-0.000269364594901,1.40864404693e-05,1793244744340355328
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3df296d628aa85112126f20f79c0164c34f95208
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+1,0.016666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+2,0.033333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+3,0.050000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+4,0.066666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+5,0.083333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+6,0.100000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+7,0.116666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+271,4.516666667,pose2_to_pose3_retreat,0.621691103075,-0.000122196826568,1.05005087438,0.592262735631,0.00855349133075,1.04971737045
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+274,4.566666667,pose2_to_pose3_retreat,0.62165492537,-0.000122127638781,1.05005084302,0.592226556133,0.00855355423018,1.04971733457
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+352,5.866666667,pose2_to_pose3_retreat,0.581577313191,-0.000122148576913,1.05005106193,0.552148946359,0.00855353716575,1.04971755582
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+354,5.900000000,pose2_to_pose3_retreat,0.580670481641,-0.000122358068476,1.05005092873,0.551242118274,0.00855333906401,1.04971741298
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+358,5.966666667,pose2_to_pose3_retreat,0.579088760322,-0.000122359716904,1.05005080641,0.549660396443,0.00855333601292,1.0497172988
+359,5.983333333,pose2_to_pose3_retreat,0.578734361681,-0.00012230571196,1.05005085467,0.5493059963,0.00855338484069,1.04971734476
+360,6.000000000,pose2_to_pose3_retreat,0.578408882206,-0.00012228575617,1.05005088825,0.548980516298,0.00855340307126,1.04971738012
+361,6.016666667,pose2_to_pose3_retreat,0.578114399627,-0.000122326224095,1.05005097736,0.548686034899,0.00855336677543,1.04971747379
+362,6.033333333,pose2_to_pose3_retreat,0.577849913284,-0.000122270482717,1.05005100277,0.548421548334,0.00855342180697,1.04971750037
+363,6.050000000,pose2_to_pose3_retreat,0.57761112033,-0.000122129650039,1.05005083346,0.548182752945,0.00855355400546,1.04971732115
+364,6.066666667,pose2_to_pose3_retreat,0.577395796259,-0.000122221924832,1.05005111438,0.547967431264,0.00855346990885,1.049717604
+365,6.083333333,pose2_to_pose3_retreat,0.577193476948,-0.000122180506442,1.05005094383,0.547765110377,0.00855350610047,1.04971743651
+366,6.100000000,pose2_to_pose3_retreat,0.577001542165,-0.000122182487138,1.05005098745,0.547573175011,0.00855350187099,1.04971747307
+367,6.116666667,pose2_to_pose3_retreat,0.576823162509,-0.000122215813289,1.05005103061,0.547394796628,0.00855347291777,1.04971751768
+368,6.133333333,pose2_to_pose3_retreat,0.576658293268,-0.000122204847583,1.0500510669,0.547229927532,0.00855348446869,1.04971755642
+369,6.150000000,pose2_to_pose3_retreat,0.576507579232,-0.000122137049184,1.05005108971,0.547079211727,0.008553546069,1.04971757418
+370,6.166666667,pose2_to_pose3_retreat,0.576372997102,-0.000122100954582,1.05005092711,0.546944629902,0.00855358337857,1.04971741626
+371,6.183333333,pose2_to_pose3_retreat,0.576257575132,-0.000122058606446,1.05005101804,0.546829206702,0.00855362163706,1.04971750933
+372,6.200000000,pose2_to_pose3_retreat,0.576156887955,-0.000122197532305,1.05005099553,0.546728522233,0.00855349202413,1.04971749012
+373,6.216666667,pose2_to_pose3_retreat,0.576070431637,-0.000122235264892,1.05005096935,0.546642067457,0.00855345971077,1.04971746976
+374,6.233333333,pose2_to_pose3_retreat,0.575996380074,-0.000122319800614,1.05005099185,0.546568016772,0.00855337795685,1.04971748726
+375,6.250000000,pose2_to_pose3_retreat,0.575932081184,-0.00012229513092,1.05005086527,0.546503717024,0.00855339947639,1.04971735432
+376,6.266666667,pose2_to_pose3_retreat,0.575875433374,-0.000122243176383,1.05005069926,0.546447067781,0.0085534465747,1.04971718848
+377,6.283333333,pose2_to_pose3_retreat,0.575826135149,-0.000122332728712,1.0500508044,0.546397769302,0.00855335632781,1.04971729796
+378,6.300000000,pose2_to_pose3_retreat,0.575784703641,-0.000122278861031,1.0500510053,0.546356336447,0.00855340545309,1.04971749445
+379,6.316666667,pose2_to_pose3_retreat,0.575751358034,-0.000122248275149,1.05005086928,0.546322992154,0.00855344074751,1.04971736498
+380,6.333333333,pose2_to_pose3_retreat,0.575726080077,-0.000122185594611,1.05005078777,0.546297711792,0.00855349494543,1.0497172753
+381,6.350000000,pose2_to_pose3_retreat,0.575708042338,-0.000122191371221,1.05005083851,0.546279674916,0.00855349260588,1.04971733848
+382,6.366666667,pose2_to_pose3_retreat,0.575695652019,-0.000122205915639,1.05005100179,0.546267284867,0.00855347836153,1.04971748591
+383,6.383333333,pose2_to_pose3_retreat,0.575687417743,-0.000122198305046,1.05005094962,0.546259050479,0.00855348552305,1.04971743196
+384,6.400000000,pose2_to_pose3_retreat,0.575681585916,-0.00012217814467,1.05005077137,0.546253218388,0.00855350511797,1.04971726229
+385,6.416666667,pose2_to_pose3_retreat,0.575677900497,-0.000122225742377,1.05005093092,0.546249533507,0.00855345923169,1.04971741878
+386,6.433333333,pose2_to_pose3_retreat,0.575675468547,-0.000122256017483,1.05005103278,0.546247101928,0.00855343014799,1.04971751876
+387,6.450000000,pose2_to_pose3_retreat,0.575674139525,-0.000122235021801,1.05005097494,0.546245773661,0.00855345384957,1.04971746474
+388,6.466666667,pose2_to_pose3_retreat,0.57567333263,-0.000122222274596,1.05005093982,0.546244967224,0.00855346823963,1.04971743195
+389,6.483333333,pose2_to_pose3_retreat,0.575672682972,-0.000122212011414,1.05005091154,0.546244317935,0.00855347982552,1.04971740554
+390,6.500000000,pose2_to_pose3_retreat,0.575672028321,-0.000122201669325,1.05005088305,0.546243663655,0.00855349150048,1.04971737893
+391,6.516666667,pose2_to_pose3_retreat,0.57567153972,-0.000122206552573,1.05005087697,0.546243174627,0.00855348516638,1.04971737283
+392,6.533333333,pose2_to_pose3_retreat,0.575671259581,-0.000122210003296,1.05005087427,0.546242894207,0.0085534807575,1.04971737004
+393,6.550000000,pose2_to_pose3_retreat,0.57567121016,-0.000122210612067,1.0500508738,0.546242844735,0.00855347997969,1.04971736955
+394,6.566666667,pose2_to_pose3_retreat,0.575671125168,-0.000122211658987,1.05005087298,0.546242759658,0.00855347864207,1.0497173687
+395,6.583333333,pose2_to_pose3_retreat,0.575671061386,-0.000122212444641,1.05005087237,0.546242695813,0.00855347763826,1.04971736807
+396,6.600000000,pose2_to_pose3_retreat,0.575670979372,-0.000122213454892,1.05005087158,0.546242613716,0.00855347634749,1.04971736725
+397,6.616666667,pose2_to_pose3_retreat,0.575670788308,-0.000122215808404,1.05005086974,0.54624242246,0.00855347334048,1.04971736535
+398,6.633333333,pose2_to_pose3_retreat,0.575670587764,-0.000122218278686,1.0500508678,0.546242221714,0.00855347018427,1.04971736335
+399,6.650000000,pose2_to_pose3_retreat,0.575670459546,-0.000122219858059,1.05005086657,0.546242093368,0.00855346816636,1.04971736207
+400,6.666666667,pose2_to_pose3_retreat,0.575670290079,-0.000122222005649,1.05005086482,0.546241923731,0.00855346544,1.04971736027
+401,6.683333333,pose2_to_pose3_retreat,0.575670088457,-0.000122237980715,1.05005083769,0.54624172198,0.00855344896909,1.04971733155
+402,6.700000000,pose2_to_pose3_retreat,0.575669939643,-0.000122249771664,1.05005081766,0.546241573072,0.00855343681217,1.04971731036
+403,6.716666667,pose2_to_pose3_retreat,0.575669934637,-0.000122250168266,1.05005081698,0.546241568063,0.00855343640326,1.04971730964
+404,6.733333333,pose2_to_pose3_retreat,0.575669701669,-0.000122268626912,1.05005078562,0.546241334947,0.00855341737169,1.04971727646
+405,6.750000000,pose2_to_pose3_retreat,0.57566961488,-0.000122285200799,1.0500507789,0.54624124848,0.00855340185835,1.04971726889
+406,6.766666667,pose2_to_pose3_retreat,0.575669542974,-0.0001223228399,1.05005078556,0.546241177772,0.0085533682388,1.04971727443
+407,6.783333333,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d654b0ee266a91ecef1473426cb57505153acf85
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6c0968cd5a8ddd9edbdd2576bb03d4639f7389df6cb78f16bff7e290b0ff34a
+size 25561371
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53b78cac5952180ff80723b0051074318b800a65
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+34,0.566666667,BASELINE,765,745.712712757,714,679.712712757,660,635,879,787,806,652.287287243,631,652,0.400938609502,-0.00544012764918,0.0499278467506,0.999999975811,5.47073379147e-05,-0.000211236420886,-2.76405023171e-05,1793244746153808896
+35,0.583333333,BASELINE,765,745.705316478,714,680,660,635,879,787,806,652.294683522,631,652,0.400938707298,-0.00543951603796,0.0499278893657,0.999999975788,5.50416190033e-05,-0.00021125634959,-2.76705505374e-05,1793244746170475776
+36,0.600000000,BASELINE,765,745.115227341,714,680,660,635,879,787,806,652.884772659,631,652,0.400938642226,-0.0054384284887,0.0499278586416,0.999999975768,5.54045364963e-05,-0.000211205168706,-2.80522001106e-05,1793244746187142144
+37,0.616666667,BASELINE,765,745,714,679.531498155,660,635,878.531498155,787,806.468501845,653,631,652,0.400939585635,-0.00543900344434,0.0499282642848,0.999999975968,5.50633770692e-05,-0.000210351479534,-2.80174175902e-05,1793244746203808512
+38,0.633333333,BASELINE,765,745,714,679.049873254,660.049873254,634.950126746,878.099746508,786.950126746,806.950126746,653,631,652,0.400940577654,-0.00543984526735,0.049928714685,0.999999976177,5.47131725523e-05,-0.000209465353334,-2.78690929071e-05,1793244746220475136
+39,0.650000000,BASELINE,765,745,714,679.622704376,660.622704376,634.377295624,879.245408753,786.377295624,806.377295624,653,631,652,0.400939513377,-0.0054392552961,0.0499285240964,0.999999975939,5.605958446e-05,-0.000210281011338,-2.75897692738e-05,1793244746237142016
+40,0.666666667,BASELINE,765,745,713.803508953,679.803508953,660.803508953,634,879.803508953,786.196491047,806.196491047,653,631,652,0.400938427189,-0.00543890949133,0.0499281026128,0.999999975697,5.65784829909e-05,-0.000211302794398,-2.75054063298e-05,1793244746253809152
+41,0.683333333,BASELINE,765,745,713.22787854,679.22787854,660.22787854,634,879.22787854,786.77212146,806.77212146,653,631,652,0.400937298719,-0.00543903481814,0.0499272356057,0.999999975448,5.55006527186e-05,-0.000212722306083,-2.7797229868e-05,1793244746270475776
+42,0.700000000,BASELINE,765,745,713.35650685,679.35650685,660,634.35650685,878.64349315,787,806.64349315,653,631,652,0.400937629943,-0.00543947825231,0.0499272866326,0.99999997564,5.4328256451e-05,-0.000212103494487,-2.79418829451e-05,1793244746287142400
+43,0.716666667,BASELINE,765,745,713.94662927,679.94662927,660,634.94662927,878.05337073,787,806.05337073,653,631,652,0.400938917691,-0.00544013013922,0.0499279392385,0.999999976117,5.30938920228e-05,-0.000210148988849,-2.79900965982e-05,1793244746303808768
+44,0.733333333,BASELINE,765,745,714,679.472676387,660,635,878.527323613,787,806,653,631,652,0.400940224175,-0.0054410449227,0.0499285192084,0.999999976408,5.32559691745e-05,-0.000208771832836,-2.7609108689e-05,1793244746320475136
+45,0.750000000,BASELINE,765,745,714,679.106216423,660.106216423,634.893783577,879,787,806,653.106216423,631,652,0.400941247226,-0.00544155740339,0.0499289384182,0.999999976582,5.36425404759e-05,-0.000207874352491,-2.73235053563e-05,1793244746337141760
+46,0.766666667,BASELINE,765,745,714,679.681294868,660.681294868,634.318705132,879,787,806,653.681294868,631,652,0.400941010914,-0.00544017864323,0.0499286798797,0.99999997633,5.44071539704e-05,-0.000208840854596,-2.76473342456e-05,1793244746353808384
+47,0.783333333,BASELINE,765,745,714,680,660.738506405,634,879,787,806,653.738506405,631,652,0.400939658744,-0.00543940038085,0.0499279290801,0.999999975944,5.48858870032e-05,-0.000210517613722,-2.79517838779e-05,1793244746370475264
+48,0.800000000,BASELINE,765,745,714,680,660.151942427,634,879,787,806,653.151942427,631,652,0.400936919417,-0.00543936861474,0.0499265663364,0.999999975387,5.50092337239e-05,-0.000213077314382,-2.82321426293e-05,1793244746387142400
+49,0.816666667,BASELINE,765,745,714,679.568578483,660.431421517,634,879,787,805.568578483,653,631,652,0.400935925196,-0.00543873647185,0.0499257231306,0.999999975112,5.65017524307e-05,-0.000213976367439,-2.82357729028e-05,1793244746403809024
+50,0.833333333,BASELINE,765,745,713.98650106,679,660.98650106,634.01349894,879,787,805.01349894,653,631,652,0.400935631643,-0.00543793667317,0.0499251445024,0.999999974962,5.84150612316e-05,-0.000214176887083,-2.81358057845e-05,1793244746420475392
+51,0.850000000,BASELINE,765,745,713.411403129,679,660.411403129,634.588596871,879,787,805.588596871,653,631,652,0.400939106685,-0.00543889394905,0.049928016799,0.999999975999,5.79208632207e-05,-0.000209469235529,-2.7750693376e-05,1793244746437142016
+52,0.866666667,BASELINE,765,745,713.163515447,679.163515447,660,634.836484553,879,787,805.836484553,653,631,652,0.400941377488,-0.00543948332951,0.0499297907175,0.999999976656,5.7347756457e-05,-0.000206499710418,-2.75265998053e-05,1793244746453808640
+53,0.883333333,BASELINE,765,745,713.737983225,679.737983225,660,634.262016775,879,787,805.262016775,653,631,652,0.400940621758,-0.00543914810317,0.0499288041564,0.999999976405,5.65763336847e-05,-0.000207898501443,-2.77071840333e-05,1793244746470475008
+54,0.900000000,BASELINE,765,745,714,680,660,634,879,787.322406774,805,653,631,652,0.400940504233,-0.00543910378415,0.0499283868648,0.99999997639,5.57748080548e-05,-0.000208172445247,-2.78139303071e-05,1793244746487141376
+55,0.916666667,BASELINE,765,745,714,680,660,634,879,787.915179054,805,653,631,652,0.400940921897,-0.0054393034157,0.0499284469543,0.999999976574,5.49480386568e-05,-0.000207503108898,-2.78587571659e-05,1793244746503808000
+56,0.933333333,BASELINE,764.505943429,745.494056571,714,680,660,634.494056571,879,787.505943429,805.494056571,653,631,652,0.400938729417,-0.00543990239512,0.0499270174242,0.999999975983,5.4325650754e-05,-0.00021049994999,-2.780573575e-05,1793244746520474880
+57,0.950000000,BASELINE,764.070427825,745.929572175,714,680,660.070427825,634.929572175,879,787,806,653,631,652,0.400936586307,-0.00544034989649,0.0499255907523,0.999999975347,5.41737948148e-05,-0.000213544538417,-2.77468780726e-05,1793244746537142016
+58,0.966666667,BASELINE,764.645465932,745.354534068,714,680,660.645465932,634.354534068,879,787,806,653,631,652,0.400937919829,-0.00543923427045,0.0499259668076,0.999999975394,5.71487354476e-05,-0.000212544850751,-2.77632741413e-05,1793244746553808896
+59,0.983333333,BASELINE,765,745,714,680,661,634.220139126,879,787,806,653,631,652,0.400938881544,-0.00543888567363,0.0499266476704,0.999999975561,5.89163297213e-05,-0.000211285157127,-2.76624399281e-05,1793244746570475520
+60,1.000000000,BASELINE,765,745,714,680,661,634.79422569,879,787,806,653,631,652,0.400939245455,-0.00543977033319,0.0499278186133,0.999999975932,5.87427104746e-05,-0.000209607416616,-2.73731187429e-05,1793244746587142144
+61,1.016666667,BASELINE,765,745.38197688,714,679.61802312,661,635,879,787,806,653,631,652,0.400939288585,-0.0054405325553,0.0499280225601,0.999999976087,5.65934829643e-05,-0.000209449656426,-2.74559391963e-05,1793244746603808512
+62,1.033333333,BASELINE,765,745.977362394,714,679.022637606,661,635,879,787,806,653,631,652,0.400939152495,-0.00544122637215,0.0499276862508,0.999999976113,5.33404926841e-05,-0.000210141101987,-2.77466733999e-05,1793244746620474880
+63,1.050000000,BASELINE,765,745.446948987,714,679,660.446948987,635,879,787,806,653,631,652,0.400938754597,-0.00544099203789,0.0499272352102,0.999999976002,5.35243166207e-05,-0.000210618111165,-2.777120346e-05,1793244746637141504
+64,1.066666667,BASELINE,765,745,714,679.128251342,660.128251342,634.871748658,879,787,806,653,631,652,0.40093841599,-0.00544070858119,0.0499269473731,0.999999975929,5.36968035429e-05,-0.000210920369045,-2.77668475614e-05,1793244746653808128
+65,1.083333333,BASELINE,765,745,714,679.704465338,660.704465338,634.295534662,879,787,806,653,631,652,0.400938320626,-0.00544038168159,0.0499272454197,0.999999976008,5.33552283279e-05,-0.00021064185055,-2.76983477193e-05,1793244746670475264
+66,1.100000000,BASELINE,764.712502988,745,714,680,661,634,879.287497012,787,806,653,631,652,0.400937912484,-0.00543976764626,0.0499269132323,0.999999975879,5.4218448733e-05,-0.000211030972834,-2.77304227856e-05,1793244746687142144
+67,1.116666667,BASELINE,764.122292839,745,714,680,661,634,879.877707161,787,806,653,631,652,0.400937175008,-0.00543885127822,0.0499259174551,0.999999975526,5.63502300358e-05,-0.000212123071607,-2.78683958122e-05,1793244746703809280
+68,1.133333333,BASELINE,764.457136594,745.457136594,714,679.542863406,660.542863406,634,879.542863406,787,806,653,631,652,0.400939028744,-0.00543882567293,0.0499270453335,0.999999975897,5.64790408874e-05,-0.000210349776986,-2.77308594012e-05,1793244746720475392
+69,1.150000000,BASELINE,765,745.966355923,714,679,660,634,879,786.966355923,806,653,631,652,0.400941279655,-0.00543899769751,0.0499285570994,0.999999976395,5.61209832376e-05,-0.000208088770182,-2.75460084576e-05,1793244746737141504
+70,1.166666667,BASELINE,765,745.391527648,714,679,660,634,879,786.391527648,806,653,631,652,0.400939025741,-0.00543860389546,0.0499273159475,0.999999975971,5.63519663181e-05,-0.000210028909171,-2.77583333474e-05,1793244746753808384
+71,1.183333333,BASELINE,765,745,714,679.182963122,660,634,879,786.182963122,806,653,631,652,0.400937625985,-0.00543863183864,0.0499264275552,0.999999975712,5.61157765628e-05,-0.000211301145566,-2.79230100351e-05,1793244746770475008
+72,1.200000000,BASELINE,765,745,714,679.756733093,660,634,879,786.756733093,806,653,631,652,0.400938050699,-0.00543956062405,0.0499262926524,0.999999975811,5.48817117508e-05,-0.000211146751079,-2.79859108231e-05,1793244746787141632
+73,1.216666667,BASELINE,765,745,714,680,660,634,878.658418789,787,805.658418789,653,630.658418789,652,0.400938340074,-0.00544022220543,0.0499262820685,0.999999975869,5.39725803855e-05,-0.000211105922477,-2.79744735237e-05,1793244746803808256
+74,1.233333333,BASELINE,765,745,714,680,660,634,878.065416632,787,805.065416632,653,630.065416632,652,0.400938529834,-0.00544068711115,0.0499263629897,0.999999975898,5.33026164489e-05,-0.000211148684087,-2.79083196503e-05,1793244746820475136
+75,1.250000000,BASELINE,764.485804901,745,714,680,660,634,878.514195099,787,805,653,630.514195099,652,0.400938523629,-0.00544012561182,0.0499263478043,0.999999975831,5.48260274352e-05,-0.000211057879382,-2.80365616802e-05,1793244746837141760
+76,1.266666667,BASELINE,764,745,714,679.907998656,660.092001344,634,879,787,805.092001344,653.092001344,630.907998656,652,0.400938578401,-0.00543940838103,0.0499264178065,0.999999975806,5.61388579771e-05,-0.000210815444393,-2.81563161657e-05,1793244746853808384
+77,1.283333333,BASELINE,764,745,714,679.330957795,660.669042205,634,879,787,805.669042205,653.669042205,630.330957795,652,0.400939082748,-0.0054385410804,0.0499269997501,0.999999976077,5.4907680638e-05,-0.000209860912909,-2.81042469993e-05,1793244746870475008
+78,1.300000000,BASELINE,764.245155604,745,713.754844396,679.245155604,660.754844396,634.245155604,879,787,806,653.509688791,630.245155604,652,0.400939157637,-0.00543876077666,0.0499270905711,0.999999976138,5.44597907163e-05,-0.000209712855407,-2.79105554558e-05,1793244746887141888
+79,1.316666667,BASELINE,764.82002161,745,713.17997839,679.82002161,660.17997839,634.82002161,879,787,806,652.35995678,630.82002161,652,0.400938654946,-0.00544044237791,0.0499265208797,0.999999975918,5.50653461521e-05,-0.000210649426911,-2.75263956181e-05,1793244746903808256
+80,1.333333333,BASELINE,764.591856011,745,713.408143989,679.591856011,660,634.591856011,879,787,806,652.408143989,631,652,0.400939149005,-0.00544031732568,0.0499264331191,0.999999975905,5.55699648366e-05,-0.000210552565912,-2.77428088467e-05,1793244746920474624
+81,1.350000000,BASELINE,764.002232417,745,714,679,660.002232417,634.002232417,879,787,806,652.997767583,631,652.002232417,0.400940098453,-0.00543937565569,0.0499265698852,0.999999975987,5.60198870049e-05,-0.000209977968388,-2.82292477509e-05,1793244746937141248
+82,1.366666667,BASELINE,764.57686611,745,714,679,660.57686611,634.57686611,879,787,806,652.42313389,631,652.57686611,0.400941329812,-0.00544017827839,0.0499279570108,0.999999976578,5.42410165982e-05,-0.000207678350865,-2.77674382014e-05,1793244746953808128
+83,1.383333333,BASELINE,765,745,714,679,660.848352569,635,879.151647431,787,806,652.151647431,631,652.848352569,0.400941739997,-0.00544085322947,0.0499286073391,0.999999976908,5.27478501456e-05,-0.000206511205349,-2.74752957691e-05,1793244746970475264
+84,1.400000000,BASELINE,765,745,714,679,660.273158794,635,879.726841206,787,806,652.726841206,631,652.273158794,0.400939856669,-0.00544117159809,0.0499271998166,0.999999976525,5.20526451403e-05,-0.000208507016786,-2.76570279719e-05,1793244746987141888
+85,1.416666667,BASELINE,765,745,714,679,660,634.69017575,879.69017575,787,805.69017575,653,631,652,0.400939298761,-0.0054405431055,0.0499268580414,0.999999976249,5.34613727253e-05,-0.00020945319695,-2.78013528643e-05,1793244747003808512
+86,1.433333333,BASELINE,765,745,714,679,660,634.10014817,879.10014817,787,805.10014817,653,631,652,0.400939939554,-0.0054390582769,0.0499274801221,0.999999976064,5.67728852963e-05,-0.000209450096299,-2.79118467821e-05,1793244747020475136
+87,1.450000000,BASELINE,765,745,714,679,660,634,879,787,805.481365456,653,631,652,0.400940634596,-0.00543871974377,0.0499273284843,0.999999976168,5.74740723144e-05,-0.000208776024072,-2.77909553687e-05,1793244747037141760
+88,1.466666667,BASELINE,764.939557824,745,714,679.060442176,660.060442176,634,879,787,805.939557824,653,631,652,0.400941107721,-0.00543880130144,0.0499270439092,0.999999976314,5.73611290428e-05,-0.000208130106934,-2.76164180742e-05,1793244747053808128
+89,1.483333333,BASELINE,764.366388275,745,714,679.633611725,660.633611725,634,879,787,805.366388275,653,631,652,0.400939604264,-0.0054404585538,0.0499269734205,0.999999976303,5.48688047429e-05,-0.000208886629454,-2.73880753865e-05,1793244747070475008
+90,1.500000000,BASELINE,764,745,714,679.79249445,660.79249445,634.20750555,879,787,805,653,630.79249445,652,0.400938341693,-0.00544099530239,0.0499266922118,0.999999976094,5.43226422477e-05,-0.00021003549474,-2.73241507523e-05,1793244747087141632
+91,1.516666667,BASELINE,764,745,714,679.217317369,660.217317369,634.782682631,879,787,805,653,630.217317369,652,0.40093750594,-0.00543954667095,0.0499260376362,0.999999975537,5.72248132795e-05,-0.000211879537813,-2.75515525067e-05,1793244747103808256
+92,1.533333333,BASELINE,764.370625297,745,713.629374703,679,660,634.629374703,879,787,805.370625297,653,630,652.370625297,0.400937874253,-0.00544005283759,0.0499262924763,0.99999997564,5.64869990964e-05,-0.000211603271002,-2.74562501968e-05,1793244747120475136
+93,1.550000000,BASELINE,764.966320175,745,713.033679825,679,660,634.033679825,879,787,805.966320175,653,630,652.966320175,0.400938973758,-0.0054417460941,0.0499270995771,0.99999997614,5.35387318053e-05,-0.000210039404039,-2.71649794501e-05,1793244747137142016
+94,1.566666667,BASELINE,765,745,713.543593436,679.543593436,660,634.543593436,879,787,805.456406564,653,630,652.456406564,0.400939027716,-0.00544169215504,0.04992683142,0.999999976268,5.30411567413e-05,-0.000209512174136,-2.74772732575e-05,1793244747153808640
+95,1.583333333,BASELINE,765,745,714,679.880623488,660.119376512,635,879,787,805.119376512,653,630.119376512,652,0.400939214497,-0.00544101089596,0.0499266821795,0.999999976333,5.37546056593e-05,-0.000208987130498,-2.77158976275e-05,1793244747170475008
+96,1.600000000,BASELINE,765,745,714,679.306312158,660.693687842,635,879,787,805.693687842,653,630.693687842,652,0.400940146229,-0.00543833798697,0.0499272316856,0.999999976228,5.8523493397e-05,-0.000208233674461,-2.75359332649e-05,1793244747187141376
+97,1.616666667,BASELINE,765,745,713.725157239,679,660.725157239,634.725157239,879,787,806,652.725157239,630.725157239,652,0.400940109231,-0.00543711050681,0.049927379068,0.999999976011,6.06164597727e-05,-0.000208690164782,-2.74148727775e-05,1793244747203808256
+98,1.633333333,BASELINE,765,745,713.136180412,679,660.136180412,634.136180412,879,787,806,652.136180412,630.136180412,652,0.400938965012,-0.005437535093,0.0499270668395,0.999999975685,5.96509568835e-05,-0.000210529574489,-2.73611370287e-05,1793244747220474880
+99,1.650000000,BASELINE,765,745,713.445974059,679,660,634,879,787,806,652.445974059,630.445974059,652,0.40093968261,-0.00543839408396,0.049927168868,0.999999975966,5.70487966995e-05,-0.000209895504169,-2.75282814059e-05,1793244747237141504
+100,1.666666667,BASELINE,765,745,713.974084784,679,660,634,879.025915216,787,806,652.974084784,631,652,0.400940880732,-0.0054393066889,0.0499273758595,0.999999976394,5.41576856893e-05,-0.000208586385225,-2.77570818936e-05,1793244747253808384
+101,1.683333333,BASELINE,765,745,713.397573867,679,660,634,879.602426133,787,806,652.397573867,631,652,0.400940391417,-0.0054385826039,0.0499271658658,0.99999997628,5.55854831934e-05,-0.000208740285577,-2.788444304e-05,1793244747270475008
+102,1.700000000,BASELINE,765,745.18169192,713.18169192,679,660.18169192,634.18169192,879.636616159,787,806,652.18169192,631,652,0.400940010212,-0.00543860999381,0.049926959682,0.999999976191,5.58491394528e-05,-0.00020909105962,-2.7907623914e-05,1793244747287141888
+103,1.716666667,BASELINE,765,745.767078576,713.767078576,679,660.767078576,634.767078576,878.465842847,787,806,652.767078576,631,652,0.400939869215,-0.00544030705882,0.0499267619634,0.999999976159,5.35262320068e-05,-0.000209879260204,-2.76993303746e-05,1793244747303808512
+104,1.733333333,BASELINE,765,745.651214778,713.651214778,679,661,634.651214778,878,786.651214778,806,653,630.651214778,652,0.400940965627,-0.00544075746716,0.0499279819845,0.999999976501,5.36648461036e-05,-0.000208230555636,-2.75373346094e-05,1793244747320475136
+105,1.750000000,BASELINE,765,745.071939954,713.071939954,679,661,634.071939954,878,786.071939954,806,653,630.071939954,652,0.400942879764,-0.00544038404089,0.0499301388981,0.999999977082,5.54301203969e-05,-0.000204971458095,-2.74059340289e-05,1793244747337141504
+106,1.766666667,BASELINE,765,745,713,679,660.493085914,634,878.506914086,786,806,653,630.506914086,652,0.400942180925,-0.00544006578843,0.0499292329631,0.999999976746,5.62176299948e-05,-0.000206386045526,-2.74120564776e-05,1793244747353808128
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,679,660,634,878,787,805,653,631,652,0.400940939529,-0.00543944309035,0.04992776264,0.999999976216,5.70020768435e-05,-0.000208707446921,-2.7584796887e-05,1793244747397142528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.590632377,745,714,679.590632377,660,634,878.590632377,787,806.181264754,653,631,652,0.400939911095,-0.00543994924954,0.049927722664,0.999999976163,5.54004688483e-05,-0.000209395864444,-2.75515563188e-05,1793244747413808896
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.822049826,745,714,679.822049826,660,634,879,787,806.822049826,653,631,652,0.400939401082,-0.00544056441889,0.049927696568,0.999999976165,5.43729618364e-05,-0.00020966203728,-2.74952536752e-05,1793244747430475264
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.242217552,745,714,679.242217552,660,634,879,787,806.242217552,653,631,652,0.400940061869,-0.00544142577655,0.0499277018188,0.999999976297,5.46420023298e-05,-0.000208974614204,-2.73868677081e-05,1793244747447142144
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.335177659,745,714,679.335177659,660,634,879,787,806,653,631,652,0.400940960073,-0.00544120908176,0.0499276766133,0.999999976381,5.4446227498e-05,-0.000208611994936,-2.74648270164e-05,1793244747463809024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.910824396,745,714,679.910824396,660,634,879,787,806,653,631,652,0.400942028609,-0.00544021895149,0.0499276295574,0.999999976431,5.39169766291e-05,-0.000208482402193,-2.76764774504e-05,1793244747480475392
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.51727844,660.48272156,634,878.51727844,787,805.51727844,653,630.51727844,652,0.400945866161,-0.00544032939638,0.0499286174434,0.999999976959,5.49935992757e-05,-0.000205658325794,-2.76131348626e-05,1793244747497141760
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.056227015,714,679,660.943772985,634,878.056227015,787,805.056227015,653,630,652,0.40095125966,-0.00544075527868,0.0499301465291,0.999999977743,5.59356948667e-05,-0.000201572719378,-2.74629762593e-05,1793244747513808384
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.651750831,714,679,660.348249169,634,878.651750831,787,805.651750831,653,630,652,0.400966708373,-0.00544227160614,0.0499350468386,0.999999980171,5.27640155381e-05,-0.000190124730745,-2.69636256165e-05,1793244747530475008
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.7596609,746,714,679.2403391,660,634,879,787,806,653,630.2403391,652,0.400988930641,-0.00544277977799,0.0499402395951,0.999999982946,5.19943068833e-05,-0.00017519239803,-2.67019547744e-05,1793244747547141632
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.180840355,746,714,679.819159645,660,634,879,787,806,653,630.819159645,652,0.40102069244,-0.0054418681143,0.0499458442188,0.999999986083,5.46074126109e-05,-0.000155352892123,-2.6775020192e-05,1793244747563808512
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.395721954,745.604278046,714,679.604278046,660,634.395721954,879,787,806,653,630.604278046,652.395721954,0.401061800658,-0.00544272071594,0.0499515632156,0.999999989344,5.49532749839e-05,-0.000132494197541,-2.71657017737e-05,1793244747580475392
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.971258182,745.028741818,714,679.028741818,660,634.971258182,879,787,806,653,630.028741818,652.971258182,0.401107155851,-0.00544437499172,0.0499573341835,0.999999992283,5.4268912396e-05,-0.000108263595442,-2.77007067058e-05,1793244747597142016
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.441655041,745,714,679,660,634.441655041,879,787,806,653,630,652.441655041,0.401161948011,-0.00544612299073,0.0499612584333,0.999999994339,5.16392103791e-05,-8.88700478141e-05,-2.75297906383e-05,1793244747613808640
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.143818794,745,714,679,660,634,879,787,806,653,630.143818794,652,0.401219580447,-0.00544787321169,0.0499640649041,0.999999995544,4.98281426019e-05,-7.54166340648e-05,-2.72300517503e-05,1793244747630475008
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.722578717,745,714,679,660,634,879,787,806,653,630.722578717,652,0.401284302385,-0.00544961525394,0.0499637845208,0.999999995221,5.08020559153e-05,-7.91586190788e-05,-2.66529406168e-05,1793244747647141888
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.299705089,660.299705089,634,879,787,806,653,630.700294911,652,0.401362254151,-0.00545256175556,0.0499645515971,0.999999995274,4.93103405249e-05,-7.96008731083e-05,-2.61427540478e-05,1793244747663808768
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.875327531,660.875327531,634,879,787,806,653,630.124672469,652,0.401452385683,-0.00545661711793,0.0499662829958,0.999999995668,4.55486945032e-05,-7.70052971576e-05,-2.56941802433e-05,1793244747680475392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.550557079,660.550557079,634.449442921,879,787,806,653,630.449442921,652,0.401560344549,-0.00546041165184,0.049966850205,0.999999995947,4.27204594936e-05,-7.51775021585e-05,-2.50736163126e-05,1793244747697142016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.976308302,879,787,806,653,631,652,0.401674254374,-0.00546413477326,0.0499671547003,0.999999996184,4.03010966012e-05,-7.35744947924e-05,-2.43754469721e-05,1793244747713808640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.388973575,879,787,806,653,631,652,0.401812485588,-0.00546787449699,0.0499688663027,0.999999996265,4.14697435931e-05,-7.22693963439e-05,-2.29622244359e-05,1793244747730475520
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.802980247,806,653,631,652,0.401962916491,-0.00547282296625,0.0499702314493,0.999999996372,4.06521174265e-05,-7.1672965616e-05,-2.1603919101e-05,1793244747747142144
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.219617387,806,653,631,652,0.402137270185,-0.00548014170757,0.0499709172181,0.999999996521,3.59395367788e-05,-7.24661870151e-05,-2.03533030441e-05,1793244747763808512
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.641168223,745.358831777,713.641168223,679,660.358831777,634,879,786.358831777,806,653,630.641168223,652,0.402333197621,-0.005487051856,0.0499694347421,0.999999996588,3.18023834482e-05,-7.38311313953e-05,-1.90392604577e-05,1793244747780474880
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.065685731,745.934314269,713.065685731,679,660.934314269,634,879,786.934314269,806,653,630.065685731,652,0.402542150584,-0.00549371531032,0.049966643152,0.999999996598,2.80126535771e-05,-7.55412632093e-05,-1.76869229177e-05,1793244747797141504
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745.47820387,713.52179613,679,660.47820387,634,879,786.47820387,806,653,630.52179613,652,0.40277388409,-0.00550195022352,0.0499653831841,0.999999996452,2.48190486456e-05,-7.88756415824e-05,-1.60591012476e-05,1793244747813808384
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.107959138,745,714,679,660,634.107959138,879,786,805.892040862,653,631,652,0.403019787657,-0.00551092477484,0.0499662234435,0.999999996646,2.08153527656e-05,-7.79292814366e-05,-1.4234066316e-05,1793244747830475008
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.681760181,745,714,679,660,634.681760181,879,786,805.318239819,653,631,652,0.403314169528,-0.00552221716759,0.0499752746087,0.999999998188,1.2984697834e-05,-5.76085700322e-05,-1.17112204007e-05,1793244747847142144
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.741116607,745.258883393,714,679.258883393,660,635,878.741116607,786.258883393,805.258883393,653,631,652,0.40362984422,-0.00553296234417,0.0499840158675,0.999999999185,7.82268938127e-06,-3.85249676236e-05,-9.16376728315e-06,1793244747863809024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.159856472,745.840143528,714,679.840143528,660,635,878.159856472,786.840143528,805.840143528,653,631,652,0.403972033958,-0.00554302609451,0.0499923712123,0.99999999974,5.98383607396e-06,-2.09818869235e-05,-6.58567199272e-06,1793244747880475904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.416092397,745.583907603,714,679.583907603,660,634.583907603,878.416092397,787,806,653,631,652,0.404342410914,-0.00555343197595,0.0499979724078,0.999999999952,3.81828189302e-06,-8.18503064032e-06,-3.69520710194e-06,1793244747897142528
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.990026461,745.009973539,714,679.009973539,660,634.009973539,878.990026461,787,806,653,631,652,0.40472348048,-0.00556396764216,0.0500025288364,0.999999999995,1.52879611998e-06,2.81137904251e-06,-6.86247101686e-07,1793244747913808896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.417570997,652,0.405137854379,-0.00556600105425,0.0500070226716,0.999999999865,7.76979001825e-06,1.43123240263e-05,2.35527449919e-06,1793244747930475520
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.829746515,806,652.829746515,630,652,0.405552060888,-0.00556487507882,0.0500046265012,0.999999999759,1.83861665886e-05,1.08700530821e-05,5.05192304214e-06,1793244747947142144
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,786.253614688,806,652.253614688,630,652,0.405964464171,-0.00555657568888,0.0499858074372,0.999999998815,3.90736563003e-05,-2.8217593939e-05,6.92503305527e-06,1793244747963808512
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678110528,745,714,679,660,634,879,786,806,652.321889472,630,652,0.406411777733,-0.00554964195814,0.0499673547387,0.999999996417,5.76720151537e-05,-6.13809760741e-05,8.44802133148e-06,1793244747980475136
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.103099879,745,714,679,660,634,879,786,806,652.896900121,630,652,0.406886543403,-0.00554378212701,0.0499491901337,0.999999993129,7.46275661633e-05,-8.98857542751e-05,9.69568789252e-06,1793244747997142016
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.473633009,745,714,679.473633009,660,634,879,786.473633009,806,653,630.473633009,652,0.407423455046,-0.0055491299642,0.0499456144733,0.999999991878,8.42251180515e-05,-9.46820999031e-05,1.36146621438e-05,1793244748013808896
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.94790487,659.94790487,634,879,787,806,653,631,652,0.407978842182,-0.00555654962734,0.0499473788721,0.999999991527,9.2187548757e-05,-9.01055999822e-05,1.81414554766e-05,1793244748030475520
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.355407487,659.355407487,634,879,787,806,653,631,652,0.408585041181,-0.00556006112978,0.0499714747091,0.999999993868,9.98637292654e-05,-4.20316007496e-05,2.2919389301e-05,1793244748047142400
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.231856728,659.231856728,634,879.231856728,787,806,653,631,652,0.409203709671,-0.00556198622635,0.0499926699427,0.999999993816,0.00010779805449,-3.53023768909e-06,2.71032797424e-05,1793244748063809024
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.811276173,659.811276173,634,879.811276173,787,806,653,631,652,0.409841070403,-0.00556153323543,0.0500095170519,0.999999992584,0.000116119348982,2.06213493072e-05,3.03966746289e-05,1793244748080475392
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.614131325,660,634,880,787,806,652.614131325,630.614131325,652,0.410467031209,-0.00556216443125,0.050004878383,0.999999993485,0.000110028824307,3.80786324695e-06,3.01621748026e-05,1793244748097142016
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.041870472,660,634,880,787,806,652.041870472,630.041870472,652,0.411087485313,-0.00556331933874,0.0499898611022,0.999999994362,9.69767330077e-05,-3.27936230338e-05,2.82235407252e-05,1793244748113808896
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.466904588,634,879.466904588,787,806,652.533095412,630,652,0.411758364342,-0.00556266745837,0.0499608099634,0.999999990888,0.000101273442761,-8.47412404071e-05,2.80438218856e-05,1793244748130475776
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.111719279,634,879.111719279,787,806,653,630.111719279,652,0.412452433293,-0.0055624746426,0.0499415112864,0.999999987312,0.000105444240312,-0.000115984228082,2.83823794138e-05,1793244748147142656
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.705196158,634,879.705196158,787,806,653,630.705196158,652,0.413229336431,-0.00556487647591,0.0499690447145,0.999999992828,0.000103166230328,-5.27202758764e-05,3.03570899366e-05,1793244748163809280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.289884493,660.289884493,634.289884493,880,787,806,653,630.710115507,652,0.413994230667,-0.00556745130344,0.0499836339198,0.999999994171,0.000100043403935,-2.50207446078e-05,3.19810013024e-05,1793244748180476160
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865898204,660.865898204,634.865898204,880,787,806,653,630.134101796,652,0.414747271662,-0.00557019688447,0.0499854465901,0.999999994305,9.608670524e-05,-3.24249116638e-05,3.32586582228e-05,1793244748197142784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.117351285,634.558675642,880,787,806,653,630.441324358,652,0.415509961155,-0.00557192132768,0.0499627535512,0.999999992707,9.41997023747e-05,-6.83333839287e-05,3.23023917291e-05,1793244748213809152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.983056332,659.016943668,634.016943668,880,787,806,652.983056332,630.983056332,652,0.416277721515,-0.00557328695289,0.0499338235453,0.999999989051,9.2981717851e-05,-0.00011093489959,3.0753774246e-05,1793244748230475776
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.394913413,659.605086587,634.605086587,880,787,806,652.394913413,630.394913413,652,0.417117725884,-0.00557300255185,0.0499453303263,0.999999991313,9.31443018082e-05,-8.7568790773e-05,3.20892351389e-05,1793244748247142144
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.808587414,879.808587414,787,806,652,630,652,0.417969349524,-0.00557355267875,0.049961454359,0.999999993497,9.23375538654e-05,-5.78742822298e-05,3.36085325566e-05,1793244748263808768
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.225974788,879.225974788,787,806,652,630,652,0.418844720034,-0.00557580837462,0.0499870149127,0.999999995244,8.95497309302e-05,-1.52460893022e-05,3.55035463291e-05,1793244748280475392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.352122918,659.647877082,634,879,787,806,652,630.352122918,652,0.419684288343,-0.00557533364547,0.0499825166436,0.999999995005,8.91838292565e-05,-2.74130325413e-05,3.58525225591e-05,1793244748297142272
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.927359832,659.072640168,634,879,787,806,652,630.927359832,652,0.42050117144,-0.00557312884981,0.0499589723424,0.999999992538,9.0352518239e-05,-7.42995631058e-05,3.52218901482e-05,1793244748313809152
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.501794926,634,879,787,806,652,631,652,0.42142527067,-0.0055740619063,0.0499780036474,0.999999995311,8.69073261507e-05,-2.40414401872e-05,3.53086542308e-05,1793244748330475776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.07844539,634,879.07844539,787,806.07844539,652,631,652,0.422359140919,-0.00557517186467,0.0499997848308,0.99999999537,8.37972882471e-05,3.11032750923e-05,3.56406164005e-05,1793244748347142400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.670354831,634,879.670354831,787,806.670354831,652,631,652,0.423255538433,-0.00557447126586,0.0499992879973,0.999999995167,8.7245823243e-05,2.63324630974e-05,3.6898851984e-05,1793244748363808768
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.489506312,634,879.744753156,787,806.744753156,652,631,652,0.424149916672,-0.00557601729045,0.0499931624062,0.999999995433,8.66075833936e-05,1.46441125342e-05,3.76546321881e-05,1793244748380475136
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.337362817,634,879.168681408,787,806.168681408,652,631,652,0.425041756963,-0.00558038714117,0.049979961916,0.999999996003,8.08325943048e-05,-5.73903234513e-06,3.77788662569e-05,1793244748397141760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.401633317,634,879.401633317,787,806,652,631,652,0.4259448669,-0.00558178102532,0.0499909313294,0.999999996041,7.96818737135e-05,3.28782109236e-06,3.94611946953e-05,1793244748413808640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.969564294,634,879.969564294,787,806,652,631,652,0.426852643019,-0.00558194269998,0.0500119083756,0.999999995591,8.0445847755e-05,2.4491986909e-05,4.17886574589e-05,1793244748430475520
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,652,0.427730401844,-0.00557735591082,0.0499893909592,0.999999995016,8.41760534289e-05,-3.39821593932e-05,4.15674614136e-05,1793244748447142144
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.845951233,806,652,631,652,0.428619274095,-0.00557528331922,0.0499687088049,0.999999992444,8.55553515999e-05,-7.80893048877e-05,4.11564197896e-05,1793244748463808768
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.2891405,806,652,631,652,0.429541646422,-0.0055804871161,0.049959264177,0.999999993294,8.03490392377e-05,-7.28376697866e-05,4.06263461975e-05,1793244748480475648
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.288096686,634,880,786.288096686,806,652,630.711903314,652,0.430453902775,-0.00558396438383,0.0499579167769,0.999999994202,7.62237082822e-05,-6.42959973312e-05,4.0637025805e-05,1793244748497142528
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.887398724,634,880,786.887398724,806,652,630.112601276,652,0.431355231678,-0.00558557663458,0.049965316096,0.999999995104,7.32660662033e-05,-5.2200389034e-05,4.12318332674e-05,1793244748513808896
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.067716933,634,880,787,806,652,630.466141533,652,0.432217491254,-0.00558433252498,0.0499528835355,0.999999993636,7.46005762258e-05,-7.38786617701e-05,4.12872385965e-05,1793244748530475264
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.041467032,634,879.958532968,787,806,652,631,651.958532968,0.433074653021,-0.00558271897538,0.0499384435114,0.999999991353,7.65693535057e-05,-9.8624080633e-05,4.12950246089e-05,1793244748547142144
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.634608532,634,879.365391468,787,806,652,631,651.365391468,0.433984246402,-0.00558498215157,0.0499583378364,0.99999999457,7.37653568627e-05,-6.02203313087e-05,4.23295385275e-05,1793244748563808768
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.221216059,660,634,879.221216059,787,806,652.221216059,631,651.221216059,0.43486689304,-0.00558559392511,0.049974710398,0.99999999575,7.36662174213e-05,-3.40872152904e-05,4.37087358712e-05,1793244748580475392
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.797340875,660,634,879.797340875,787,806,652.797340875,631,651.797340875,0.43570630772,-0.00558355626538,0.0499854328095,0.999999995542,7.79066247976e-05,-2.76405268684e-05,4.56409275153e-05,1793244748597142272
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.372665404,745,714,680.627334596,660,634,880,787,806,652.627334596,631,651.627334596,0.436511115144,-0.00558253432205,0.0499715301899,0.999999993927,7.90976808282e-05,-6.15773660191e-05,4.57947153445e-05,1793244748613809152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.947555626,745,714,680.052444374,660,634,880,787,806,652.052444374,631,651.052444374,0.437297143083,-0.00558206355172,0.0499442649328,0.999999989002,7.86340227757e-05,-0.000117428103094,4.49834619557e-05,1793244748630476032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.477073995,745,714,680.522926005,660,634,880,787,806,652,631,651,0.438140058964,-0.00558609474079,0.0499678353728,0.999999994446,7.33989291031e-05,-6.03208181933e-05,4.56301282898e-05,1793244748647142400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.100998155,745,714,680.899001845,660,634,880,787,806,652,631,651,0.438973680743,-0.00558996063582,0.0499901416955,0.999999996554,6.84979522229e-05,-7.2997897834e-06,4.63403619482e-05,1793244748663808768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.691942887,745,714,680.308057113,660,634,880,787,806,652,631,651,0.439734514265,-0.00559083240961,0.0499815607982,0.999999996207,6.75412886834e-05,-2.91073682342e-05,4.66490164089e-05,1793244748680475392
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723245204,745,714,680.276754796,660,633.723245204,880,786.723245204,806.276754796,652,631,651.276754796,0.440469865429,-0.00559150344303,0.049965638267,0.999999995092,6.64791995785e-05,-5.6998905336e-05,4.63472305201e-05,1793244748697142016
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.145111813,745,714,680.854888187,660,633.145111813,880,786.145111813,806.854888187,652,631,651.854888187,0.441177466933,-0.00559195587545,0.0499417208928,0.999999992651,6.53023048738e-05,-9.15157097679e-05,4.5380691321e-05,1793244748713808640
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.568280143,680.568280143,659.568280143,633,880,786.431719857,807,652,631,652,0.441876923868,-0.00559131644375,0.0499365504711,0.999999992226,6.63825985591e-05,-9.55862958842e-05,4.47732396529e-05,1793244748730475520
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.008275603,745,713.008275603,680.008275603,659,633,880.008275603,786.991724397,807,652,631,651.991724397,0.442572591793,-0.00559038783748,0.049937528916,0.999999992669,6.81215202024e-05,-8.97713356814e-05,4.43020241632e-05,1793244748747142400
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.596053196,745,713.596053196,680.596053196,659,633,880.596053196,786.403946804,807,652,631,651.403946804,0.443194053706,-0.00559483192791,0.0499291583261,0.999999991367,6.30127478653e-05,-0.000106184079437,4.49442654179e-05,1793244748763808768
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.818637375,659,633,880.637274749,786,807,652,631,651.181362625,0.443794562773,-0.00559605588808,0.049905078294,0.99999998603,6.01900554277e-05,-0.000149543487608,4.42069474568e-05,1793244748780475392
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.238751336,659,633,879.477502672,786,807,652,631,651.761248664,0.444349030499,-0.00559020398494,0.0498464785762,0.999999965455,6.23907580572e-05,-0.000252115079608,4.04382073582e-05,1793244748797141760
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.661286976,745,714,680.338713024,659.338713024,633,879.338713024,786,807,652,631,652,0.444908855436,-0.00559115928173,0.0498112885441,0.999999952262,5.80005750631e-05,-0.000301084936554,3.82096378949e-05,1793244748813808128
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.085517521,745,714,680.914482479,659.914482479,633,879.914482479,786,807,652,631,652,0.445472429712,-0.00559687876096,0.0497924823454,0.999999949272,4.89976029146e-05,-0.000312540329228,3.70589942052e-05,1793244748830474752
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.499443708,714,680.500556292,659.500556292,632.500556292,880,786,806.500556292,652,631,652,0.446015607893,-0.00559624399956,0.0497977822311,0.999999954786,4.89970323825e-05,-0.000294342137545,3.72954984929e-05,1793244748847141632
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680.084980058,659,632,880.084980058,786,806.084980058,652,630.915019942,652,0.446545913622,-0.00559374973808,0.0498042176987,0.999999959467,5.14665299333e-05,-0.00027750589803,3.75187376674e-05,1793244748863808256
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,680.664532118,659,632,880.664532118,786,806.664532118,652,630.335467882,652,0.447022009443,-0.00558688422312,0.0497927897834,0.999999952981,5.91723086666e-05,-0.000298700118113,3.6256553974e-05,1793244748880474880
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.759014336,745.759014336,714,681,659,631.759014336,880.759014336,786,807,652,630,652,0.44747096798,-0.00558513297392,0.0497700006373,0.999999941902,6.10750956496e-05,-0.000333531885934,3.49512773931e-05,1793244748897141760
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.186819417,745.186819417,714,681,659,631.186819417,880.186819417,786,807,652,630,652,0.447882629155,-0.00559041074153,0.0497315966846,0.999999922997,5.50022847802e-05,-0.000387107015485,3.35867742569e-05,1793244748913808640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.389737636,745.389737636,714,681,659,631,880,785.610262364,806.610262364,652,630,652,0.448281669766,-0.00559572466145,0.0497141997437,0.999999912839,4.74975156588e-05,-0.00041349231989,3.30273282303e-05,1793244748930475264
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968409384,745.968409384,714,681,659,631,880,785.031590616,806.031590616,652,630,652,0.44867459231,-0.00560105610748,0.0497069864224,0.999999907653,3.92985719695e-05,-0.000426696748253,3.28581517015e-05,1793244748947141888
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.441437276,714,680.441437276,658.441437276,631,880,785.558562724,806.558562724,652,630,651.441437276,0.44903345654,-0.00560333135177,0.0497191586285,0.99999991439,3.72649293289e-05,-0.000410688740068,3.41382864498e-05,1793244748963809024
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.145281909,658.145281909,631,880.145281909,785.854718091,806.854718091,652,630,651.145281909,0.449386451918,-0.00560376739959,0.0497307191495,0.999999920473,3.72538093821e-05,-0.000395504465679,3.52397486255e-05,1793244748980475648
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.719893551,658.719893551,631,880.719893551,785.280106449,806.280106449,652,630,651.719893551,0.449727915821,-0.00559928986392,0.049737164069,0.999999923308,4.21674866767e-05,-0.000387739310684,3.5565893726e-05,1793244748997142016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.297165691,714,681,658.702834309,630.702834309,880.702834309,785.297165691,806.297165691,652,630,652,0.450044751338,-0.00559587780685,0.0497399312488,0.999999924477,4.64310397263e-05,-0.000384192148512,3.58725372764e-05,1793244749013808896
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.876968218,714,681,658.123031782,630.123031782,880.123031782,785.876968218,806.876968218,652,630,652,0.450338162565,-0.00559347913589,0.0497392004985,0.999999924112,5.00762537398e-05,-0.000384656755963,3.61606327176e-05,1793244749030475776
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.546602655,714.453397345,681,658,630,880,785.546602655,807,652,630,652,0.450582964775,-0.00559690141128,0.049735545193,0.999999919738,4.57607669933e-05,-0.000396330390979,3.67582214472e-05,1793244749047142656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.970262142,681,658,630,880,785,807,652,630,652,0.450812488386,-0.00560160186869,0.0497309750034,0.999999914113,3.97156702674e-05,-0.000410852047827,3.73786693696e-05,1793244749063809280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.378421595,681,658,630,880,785,807,652,630,652,0.451000698171,-0.00560082649167,0.0497240014069,0.999999909359,4.15075910394e-05,-0.000422138758944,3.68554904606e-05,1793244749080475648
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.793017364,630,880.206982636,785,807,652,630,652,0.45118127756,-0.00560055551481,0.0497160859255,0.999999903396,4.20488782147e-05,-0.00043602198862,3.63894875001e-05,1793244749097142272
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657.219025682,630,880.780974318,785,807,652,630,652,0.451348327173,-0.00560117890978,0.0497065003519,0.999999895247,4.03726176225e-05,-0.000454509206163,3.60248655149e-05,1793244749113808640
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.35765293,630,880.64234707,785,807.35765293,652,630,652,0.451497325289,-0.00560099754764,0.0497001519847,0.999999888316,4.03485900215e-05,-0.000469497319977,3.62300436172e-05,1793244749130475520
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.935989522,630,880.064010478,785,807.935989522,652,630,652,0.451635185052,-0.00560031962387,0.0496958010798,0.999999882149,4.13440445441e-05,-0.000482326373103,3.67868071439e-05,1793244749147142144
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.524482053,681,658,629.475517947,880,785,807.475517947,652.524482053,630,652,0.451751970198,-0.00560095430256,0.0496945692323,0.999999881477,3.8688120127e-05,-0.000483960485316,3.64800188955e-05,1793244749163808768
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.88777699,745.11222301,714.88777699,681,658,629.11222301,880,785,807,653,630,652,0.451861588001,-0.00560187990909,0.0496934013579,0.999999881241,3.56921857541e-05,-0.000484708917259,3.60706819529e-05,1793244749180475392
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.308425507,745.691574493,714.308425507,681,658,629.691574493,880,785,807,653,630,652,0.451952289345,-0.00560333651727,0.0496908839614,0.999999879951,3.31725345233e-05,-0.000487570179203,3.56818438602e-05,1793244749197142272
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.268807216,745.731192784,714.268807216,681,657.731192784,629.731192784,880.268807216,785,807,652.731192784,630,651.731192784,0.45203193879,-0.00560327829725,0.0496880663802,0.999999878051,3.26379039527e-05,-0.000491520125824,3.52297634122e-05,1793244749213809152
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.843627883,745.156372117,714.843627883,681,657.156372117,629.156372117,880.843627883,785,807,652.156372117,630,651.156372117,0.452099006613,-0.00560149557804,0.0496849070654,0.999999875447,3.43630455411e-05,-0.000496709444331,3.47056871092e-05,1793244749230475776
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.580183933,681,657.419816067,629,880.580183933,785,807,652,630,651.419816067,0.452153302318,-0.00560115038886,0.0496823196434,0.999999873443,3.41858081348e-05,-0.000500740382071,3.47003592019e-05,1793244749247142400
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714.003484728,681,657.996515272,629,880.003484728,785,807,652,630,651.996515272,0.452202825146,-0.00560134239741,0.0496799459348,0.999999871658,3.32976612951e-05,-0.000504338438666,3.48888849543e-05,1793244749263808768
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629,880,785,807.586651847,652,629.413348153,652,0.452236021798,-0.00560261543288,0.0496783416598,0.999999869499,3.09446185053e-05,-0.000508751968875,3.48704413944e-05,1793244749280475392
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.173609402,714.173609402,681.173609402,658,629.173609402,880,785,807.826390598,652,629.173609402,652,0.452266603336,-0.00560279257748,0.0496767270804,0.999999868144,2.99734401238e-05,-0.000511475041388,3.47459968521e-05,1793244749297142272
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.752946546,714.752946546,681.752946546,658,629.752946546,880,785,807.247053454,652,629.752946546,652,0.45229130526,-0.00560039325018,0.0496750774883,0.999999868719,3.22525119381e-05,-0.000510235902934,3.43767669367e-05,1793244749313808896
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714.671074168,681.671074168,657.671074168,629.671074168,880.328925832,785,807,652,630,652,0.452308014858,-0.0055996663541,0.0496732512187,0.999999867749,3.30493121161e-05,-0.000512103225675,3.40507083673e-05,1793244749330475776
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.097591396,681.097591396,657.097591396,629.097591396,880.902408604,785,807,652,630,652,0.45231878215,-0.00560018291335,0.0496712935889,0.999999865622,3.27440409364e-05,-0.000516280207702,3.37567477315e-05,1793244749347142656
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,681,657.477387295,629,880.522612705,785,807,652,629.522612705,652,0.452326331753,-0.00560015226912,0.0496703841832,0.999999864904,3.27084147554e-05,-0.000517680064682,3.35993198639e-05,1793244749363809280
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.054324186,745.945675814,714,681,657.945675814,629,880.108648372,785,807,652.054324186,629.054324186,652,0.452332953578,-0.00559985407464,0.049669746095,0.999999864469,3.2855030055e-05,-0.000518520126178,3.34658836532e-05,1793244749380475904
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.647646751,745.352353249,714,681,657.352353249,629,881.295293502,785,807,652.647646751,629.647646751,652,0.452336917087,-0.00559801466567,0.0496696671787,0.999999863941,3.42611809845e-05,-0.000519456545626,3.32926881876e-05,1793244749397142272
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.765766588,745,714,681,657.234233412,629,881.531533175,785,807,653,629.765766588,652,0.452340304942,-0.00559713297058,0.04966938239,0.999999863643,3.531433974e-05,-0.000519967959249,3.31626618581e-05,1793244749413808896
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.189029421,745,714,681,657.810970579,629,880.378058841,785,807,653,629.189029421,652,0.452342851054,-0.00559765167617,0.0496687965682,0.999999863684,3.58513417126e-05,-0.000519857915401,3.30957588615e-05,1793244749430475264
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.386475249,714,681,658,629,880,785,806.613524751,652.613524751,629.386475249,652,0.452344107375,-0.00559695360863,0.0496690133461,0.999999863639,3.62624335384e-05,-0.000519933529976,3.27932384303e-05,1793244749447142144
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.961378991,714,681,658,629,880,785,806.038621009,652.038621009,629.961378991,652,0.45234473485,-0.00559566229551,0.0496696214365,0.999999863554,3.66121370475e-05,-0.000520099663512,3.23758412064e-05,1793244749463808768
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.465495361,714,681,658,629,880,785,806.534504639,652,629.465495361,652,0.452343476593,-0.00559741285737,0.0496682722454,0.999999862364,3.48751705988e-05,-0.00052247986786,3.27077239385e-05,1793244749480475648
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.111936228,681,657.888063772,629,880.111936228,785,807,652,629.111936228,652,0.452342678934,-0.00559871383229,0.0496668520576,0.999999861313,3.33447582319e-05,-0.000524570308721,3.29823005591e-05,1793244749497142272
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.708567277,681,657.291432723,629,880.708567277,785,807,652,629.708567277,652,0.452344463751,-0.00559711948232,0.0496657348006,0.999999861243,3.33594464871e-05,-0.000524715615644,3.27750828579e-05,1793244749513808896
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.705993127,681,657,629,881,785,807,652,629.705993127,652,0.452344903906,-0.00559654966808,0.0496650915623,0.999999861014,3.31423921879e-05,-0.000525186185358,3.24611839852e-05,1793244749530475776
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.13124014,681,657,629,881,785,807,652,629.13124014,652,0.452344060047,-0.00559695817917,0.0496649009625,0.999999860631,3.27040477512e-05,-0.00052596734737,3.20454156177e-05,1793244749547142400
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714.443658009,681.443658009,657,629,881,785,807,652,629.443658009,652,0.452344997516,-0.00559660073562,0.0496657457056,0.999999860717,3.41992203921e-05,-0.000525691281775,3.23384335965e-05,1793244749563809024
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.980935315,681.980935315,657.019064685,629,880.980935315,785,807,652,630,652,0.452346409275,-0.00559599541855,0.049666814973,0.99999986092,3.62413284403e-05,-0.00052513753673,3.28084129545e-05,1793244749580475648
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.391601261,681.391601261,657.608398739,629,880.391601261,785,807,652,630,652,0.45234624098,-0.0055947553771,0.0496654360788,0.999999860628,3.75292682798e-05,-0.000525635669373,3.22979865092e-05,1793244749597142272
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.194326802,681,658,629,880,785,807.194326802,652.194326802,629.805673198,652,0.452346367877,-0.00559447464834,0.0496647483562,0.999999860576,3.72416945268e-05,-0.000525775202753,3.19718767204e-05,1793244749613808896
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.773509414,681,658,629,880,785,807.773509414,652.773509414,629.226490586,652,0.452347079386,-0.0055960937969,0.049665429469,0.999999860995,3.38338842966e-05,-0.000525204545802,3.2010798113e-05,1793244749630475520
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.35064311,658,629,880,785,807.64935689,652.64935689,629,652,0.45234726259,-0.00559576640848,0.049666111063,0.999999861442,3.37995388344e-05,-0.000524360028119,3.19373304917e-05,1793244749647142144
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.926461018,658,629,880,785,807.073538982,652.073538982,629,652,0.452347106527,-0.00559418899953,0.0496667929659,0.999999861907,3.59315536117e-05,-0.000523339643509,3.17916892749e-05,1793244749663809024
+244,4.066666667,HOLD_POSE2,765,746,715,681,657,629,880,785,806,652,629,652,0.452346393695,-0.00559657537407,0.0496648156241,0.999999860499,3.26052128421e-05,-0.000526184050186,3.26987645709e-05,1793244749694319104
+245,4.083333333,HOLD_POSE2,765,746,714.420574075,681,657,629,880,785,806.579425925,652.579425925,629,652,0.452347272142,-0.00559637680002,0.0496650287954,0.999999860755,3.25720511026e-05,-0.000525712570915,3.24787591381e-05,1793244749710985216
+246,4.100000000,HOLD_POSE2,764.841557822,745.841557822,714,681,657,629,880.158442178,785,807,652.841557822,629,652,0.452347921179,-0.00559623922853,0.0496650582106,0.999999860841,3.29378526104e-05,-0.000525540357216,3.2242553721e-05,1793244749727651584
+247,4.116666667,HOLD_POSE2,764.263626087,745.263626087,714,681,657,629,880.736373913,785,807,652.263626087,629,652,0.452347962835,-0.0055962631666,0.0496646011157,0.999999860476,3.43599442844e-05,-0.000526160475243,3.19634573773e-05,1793244749744318208
+248,4.133333333,HOLD_POSE2,764.31109978,745,714,681,657,629,880.68890022,785,806.68890022,652,629.31109978,652,0.452346965125,-0.00559531777347,0.0496639985243,0.999999859721,3.53941098966e-05,-0.000527535419094,3.18189743981e-05,1793244749760984832
+249,4.150000000,HOLD_POSE2,764.883136669,745,714,681,657,629,880.116863331,785,806.116863331,652,629.883136669,652,0.45234509564,-0.00559355934705,0.0496632738968,0.999999858635,3.61028997358e-05,-0.000529543478326,3.1787399333e-05,1793244749777651712
+250,4.166666667,HOLD_POSE2,764.528559157,745,714,681,657,629,880,785,806,652,629.528559157,652,0.452345301006,-0.00559344065707,0.0496631269691,0.999999858836,3.61809448363e-05,-0.000529148874296,3.19466076892e-05,1793244749794318592
+251,4.183333333,HOLD_POSE2,764.062256056,745,714.062256056,681,657,628.937743944,880,785,806.062256056,652,629,652,0.452345976413,-0.00559376391412,0.0496631686472,0.999999859331,3.590555078e-05,-0.00052822287,3.20814483631e-05,1793244749810985216
+252,4.200000000,HOLD_POSE2,764.639299514,745,714.639299514,681,657,628.360700486,880,785,806.639299514,652,629,652,0.45234613365,-0.00559426043403,0.0496635434325,0.999999859527,3.40466768346e-05,-0.000528003609815,3.16097648646e-05,1793244749827651584
+253,4.216666667,HOLD_POSE2,765,745.216588362,714.783411638,681,657,628.216588362,880,785,807,652,629,652,0.452346142614,-0.00559438514052,0.0496636043018,0.999999859517,3.3102131745e-05,-0.000528098098621,3.13347725591e-05,1793244749844318208
+254,4.233333333,HOLD_POSE2,765,745.794286281,714.205713719,681,657,628.794286281,880,785,807,652,629,652,0.452345904366,-0.00559388993656,0.0496631417905,0.99999985917,3.36820126465e-05,-0.000528715689242,3.13877160629e-05,1793244749860984832
+255,4.250000000,HOLD_POSE2,765,745.621689998,714,681,657,629,880,785,806.621689998,652,629,651.621689998,0.452346353874,-0.00559513749053,0.0496632351154,0.999999859344,3.30972744373e-05,-0.000528408401432,3.16361716154e-05,1793244749877651200
+256,4.266666667,HOLD_POSE2,765,745.034167944,714,681,657,629,880,785,806.034167944,652,629,651.034167944,0.452347183723,-0.0055973488201,0.0496636358273,0.999999859805,3.18684815326e-05,-0.000527589639722,3.19927487572e-05,1793244749894317824
+257,4.283333333,HOLD_POSE2,765,745,714,681,657,628.454572089,880.545427911,785,806.545427911,652.545427911,629.545427911,651.545427911,0.452346532215,-0.00559577111849,0.049663323225,0.999999859413,3.36548565937e-05,-0.000528227101573,3.18956389333e-05,1793244749910984704
+258,4.300000000,HOLD_POSE2,765,745.123649341,714,681,657,628,881,785,807,652.876350659,629.876350659,652,0.452345771012,-0.00559411972885,0.0496628892493,0.999999858937,3.50487034593e-05,-0.000529046915727,3.1719086367e-05,1793244749927651840
+259,4.316666667,HOLD_POSE2,765,745.69864051,714,681,657,628,881,785,807,652.30135949,629.30135949,652,0.452344943281,-0.005593053364,0.0496621730107,0.999999858361,3.43301733511e-05,-0.000530204133727,3.13548090838e-05,1793244749944318720
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,806,652,629,652,0.452348003905,-0.00559514172567,0.0496638939757,0.999999859941,3.42941744894e-05,-0.000527181604277,3.19722995023e-05,1793244749982246656
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.595795772,681.595795772,657.595795772,629,880,785,806.595795772,652,629,652,0.452347574172,-0.00559532007668,0.0496636236876,0.999999859405,3.49390214629e-05,-0.000528160273725,3.18836938879e-05,1793244749998914560
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.813390757,681.813390757,658,628.813390757,880,785,807,652,629,652,0.452347736736,-0.0055955463377,0.0496636594345,0.999999859228,3.52824315524e-05,-0.000528474188742,3.18430334892e-05,1793244750015581696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.23308843,681.23308843,658,628.23308843,880,785,807,652,629,652,0.452349148884,-0.00559587367542,0.0496643408294,0.999999859811,3.49898946116e-05,-0.000527385658823,3.1903524011e-05,1793244750032247808
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.655443041,628.344556959,880,785,807,652,629.344556959,652,0.452347981392,-0.0055951421578,0.049663236582,0.999999859109,3.47036391157e-05,-0.000528752397435,3.16050099808e-05,1793244750048914176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.079581318,628.920418682,880,785,807,652,629.920418682,652,0.452345082162,-0.00559369981928,0.0496609336139,0.999999857537,3.44216004379e-05,-0.000531767384073,3.10654923602e-05,1793244750065580544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.495333966,681,657,629,880,785,807,652,630,652,0.452346786325,-0.00559336669272,0.0496626962864,0.999999858333,3.48016064069e-05,-0.000530228139582,3.13290444051e-05,1793244750082247168
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.072159845,714.927840155,681,657,629,880.072159845,785,807,652,629.927840155,652,0.452348760471,-0.00559312745988,0.0496646475146,0.99999985934,3.5220943079e-05,-0.000528280598214,3.1603971097e-05,1793244750098913536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.663833673,714.336166327,681,657,629,880.663833673,785,807,652,629.336166327,652,0.45234736384,-0.0055922836531,0.0496632625551,0.999999859164,3.51591247507e-05,-0.000528651287606,3.10336632012e-05,1793244750115580160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.750499309,714,680.750499309,657,629,881,785,807,652,629,651.750499309,0.452341103957,-0.00559207382404,0.0496598018883,0.999999856663,3.49666430739e-05,-0.000533405374241,3.04944146831e-05,1793244750132246528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.172735383,714,680.172735383,657,629,881,785,807,652,629,651.172735383,0.452328445585,-0.00559269810727,0.0496536102538,0.999999851023,3.46022501574e-05,-0.000543926611821,2.99960304304e-05,1793244750148913152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.387315217,680.774630435,657,628.612684783,880.612684783,785,806.612684783,652,629,651.387315217,0.452299596693,-0.00559143604403,0.049641092458,0.999999839165,3.47107851875e-05,-0.000565328526539,2.94735457227e-05,1793244750165580032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.939811538,681.879623076,657,628.060188462,880.060188462,785,806.060188462,652,629,651.939811538,0.452263842912,-0.00558936949711,0.0496258766982,0.999999824108,3.50210131467e-05,-0.000591370802404,2.89407826621e-05,1793244750182246656
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.474704841,681.474704841,657,628.525295159,880,785,806.525295159,652,629,652,0.452206256713,-0.00558709329717,0.0496048969089,0.999999803072,3.55099182522e-05,-0.000625980557798,2.72745589654e-05,1793244750198913536
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.883232011,0.452143860943,-0.00558497567291,0.0495842172781,0.999999782291,3.63919602969e-05,-0.000658357462267,2.56752693519e-05,1793244750215580416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.283670595,0.452072615425,-0.00558361967885,0.049567692357,0.999999769656,3.88091619698e-05,-0.000677171559039,2.49256824707e-05,1793244750232247296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.304867495,628.695132505,880.304867495,785,807,652,629,651.304867495,0.451992372676,-0.00558126163572,0.0495571108631,0.99999976018,4.05031301075e-05,-0.000690952366886,2.4183580378e-05,1793244750248914176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.883506581,628.116493419,880.883506581,785,807,652,629,651.883506581,0.4519040504,-0.0055780037507,0.0495518665793,0.999999753713,4.15476330144e-05,-0.000700213270674,2.34481996889e-05,1793244750265580800
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.540888591,628.459111409,880.540888591,785,807.459111409,652,629.459111409,652,0.4518080374,-0.00557363627173,0.0495545583863,0.999999755068,4.5944350656e-05,-0.000698013743931,2.30013857504e-05,1793244750282247168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807.965218217,652,629.965218217,652,0.451708610176,-0.00556898619559,0.0495591802966,0.999999758364,5.10542271231e-05,-0.000692930709474,2.26323250332e-05,1793244750298913280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807.376318536,652,629.376318536,652,0.451585674473,-0.00556428990254,0.0495626813911,0.999999761663,5.40637809941e-05,-0.000687932619358,2.23431432422e-05,1793244750315579904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.790416307,0.451451018718,-0.00555961614896,0.0495662834994,0.999999765113,5.6735905099e-05,-0.000682700785585,2.17857115309e-05,1793244750332246528
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,629,651.209820332,0.451295615739,-0.00555498229606,0.0495700644252,0.999999768853,5.88106990772e-05,-0.000677055171279,2.07534145919e-05,1793244750348913152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.367695642,785,806.632304358,652,629.367695642,651.367695642,0.451117585818,-0.00554759642903,0.0495716497214,0.999999771207,6.37533189494e-05,-0.000673147986427,1.98167206116e-05,1793244750365580288
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.943468713,785,806.056531287,652,629.943468713,651.943468713,0.450926751392,-0.00553865320827,0.0495719925202,0.999999772748,7.03188297093e-05,-0.000670224570989,1.89341278488e-05,1793244750382247168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880.484869726,785,806,652,629.484869726,652,0.450714392738,-0.00553103416392,0.0495765131243,0.999999779576,7.52252584692e-05,-0.000659459661771,1.74077880983e-05,1793244750398913536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.909753182,745,714,680.909753182,657,629,880,785,806.090246818,652,629.090246818,651.909753182,0.450494901028,-0.0055234756669,0.0495821963271,0.999999787312,8.01744433633e-05,-0.000647065353355,1.59693839363e-05,1793244750415580160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.3127211,745,714,680.3127211,657,629,880,785,806.6872789,652,629.6872789,651.3127211,0.450248512703,-0.00551544759815,0.0495918539324,0.999999797502,8.63780590354e-05,-0.000630315206211,1.54183597114e-05,1793244750432246784
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.274227901,745.274227901,714,680.274227901,657.274227901,629.274227901,880,785,806.725772099,652,629.725772099,651.274227901,0.449976600892,-0.00550696896607,0.0495979321073,0.999999804731,9.26512384658e-05,-0.000617853785699,1.45354332376e-05,1793244750448913152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.850086222,745.850086222,714,680.850086222,657.850086222,629.850086222,880,785,806.149913778,652,629.149913778,651.850086222,0.449676615146,-0.00549799474809,0.0496000731728,0.999999808894,9.90009325321e-05,-0.000610109648577,1.32874388611e-05,1793244750465580032
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.573412616,714,681,657.573412616,630,880,785,806,652,629.426587384,652,0.449330057576,-0.00548616032136,0.0495981885559,0.999999805323,0.000106199390945,-0.000614775426926,1.13008672799e-05,1793244750482246656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.996637999,745,714.003362001,680.996637999,657.003362001,630.003362001,880,785,806.003362001,652,630,652,0.448967041714,-0.0054733512316,0.049594905652,0.99999979897,0.000113675644535,-0.00062374384467,9.05607919422e-06,1793244750498913024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.411695993,745,714.588304007,680.411695993,657.588304007,630.588304007,880,785,806.588304007,652,630,652,0.448592425012,-0.00546607849989,0.0495948361904,0.999999799968,0.00011753087306,-0.000621449860082,7.11059199305e-06,1793244750515580160
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.172267336,745,714.827732664,680.172267336,658,630.827732664,880,785,807,652,630,651.827732664,0.448201876913,-0.00545819597818,0.0495945332222,0.999999800781,0.000121353395995,-0.000619426441557,4.75453278574e-06,1793244750532247040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.753904888,745,714.246095112,680.753904888,658,630.246095112,880,785,807,652,630,651.246095112,0.447773470038,-0.00544886437341,0.0495936753565,0.999999801184,0.000125098197935,-0.000618045987336,1.42280455836e-06,1793244750548913664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.33291255,880,785,807,652,630,651.33291255,0.447320996523,-0.00544738491614,0.0495923286864,0.999999802077,0.000118781973719,-0.000617846269406,-1.62820408263e-06,1793244750565580288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.909991448,880,785,807,652,630,651.909991448,0.446850871889,-0.00545166441824,0.049590623515,0.999999803189,0.000105086742984,-0.000618512532619,-4.47332634129e-06,1793244750582247168
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880.483970537,785,806.516029463,652,630,652,0.44634288416,-0.00545806519669,0.0495945371572,0.999999807785,9.11636968595e-05,-0.000613260256769,-5.62578746716e-06,1793244750598913792
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631.059382969,880.940617031,785.059382969,806,652,630.059382969,651.940617031,0.445828585248,-0.0054632237752,0.0496023539656,0.999999815464,7.86307575513e-05,-0.000602365092838,-6.69935860088e-06,1793244750615580416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631.652838674,880.347161326,785.652838674,806,652,630.652838674,651.347161326,0.445320453526,-0.00545368482374,0.0496359362328,0.999999845276,7.89786453903e-05,-0.000550556072562,-9.87661715057e-06,1793244750632247040
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,879.760528945,786,806,652,630.760528945,651.239471055,0.444785106366,-0.00544733195865,0.0496686094305,0.999999869238,7.76666471934e-05,-0.000505325740875,-1.17459433159e-05,1793244750648913664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,879.183514334,786,806,652,630.183514334,651.816485666,0.444211398042,-0.00544547000397,0.0497000012581,0.999999887038,7.40149766775e-05,-0.000469368325093,-1.17716888972e-05,1793244750665580288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.608296605,658.391703395,632.391703395,879.391703395,786,806.391703395,652,630,651.608296605,0.443582677558,-0.00544285946467,0.049704894691,0.999999888496,6.85712661348e-05,-0.000467020754443,-1.4074926936e-05,1793244750682247424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.033916892,658.966083108,632.966083108,879.966083108,786,806.966083108,652,630,651.033916892,0.442928301405,-0.00543989981258,0.0496974302285,0.999999882541,6.22918129594e-05,-0.000480347602874,-1.74403052088e-05,1793244750698914048
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880,786,807,652,630.552407096,651.552407096,0.442285699374,-0.00543525479586,0.0497104465855,0.999999897291,5.55832878014e-05,-0.000449339330627,-2.05814575839e-05,1793244750715580416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880.13760461,786,806.86239539,652,631,651.86239539,0.44164035234,-0.00543222516373,0.0497340476322,0.999999917325,4.77547723182e-05,-0.000403149879254,-2.32422430807e-05,1793244750732247040
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880.716781802,786,806.283218198,652,631,651.283218198,0.440983825649,-0.00543471869565,0.0497874904424,0.99999994874,3.64186212706e-05,-0.000317172365954,-2.44066876394e-05,1793244750748913664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.295822195,745,714,680.295822195,659.295822195,633,881,786,806,652,631,651.295822195,0.440285815378,-0.00543910351361,0.0498196618538,0.999999963705,2.29868312712e-05,-0.00026722098055,-2.55891717991e-05,1793244750765580288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.874731745,745,714,680.874731745,659.874731745,633,881,786,806,652,631,651.874731745,0.439548107275,-0.00544529819999,0.0498314775845,0.999999967925,7.54961625593e-06,-0.000251744826783,-2.67889192333e-05,1793244750782246912
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.551008543,745,714,680.551008543,660,633.448991457,880.551008543,786.448991457,806,652,631,652,0.438737758255,-0.00544137170113,0.049804861779,0.999999955468,2.5421576349e-07,-0.000296790654503,-3.12903018388e-05,1793244750798913792
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.977398024,633.977398024,880.022601976,787,806,652,631,652,0.437908027674,-0.00543476612899,0.049769386959,0.99999993594,-4.72740534777e-06,-0.000356034340844,-3.65780344663e-05,1793244750815580160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.387863474,633.387863474,880.612136526,787,806,652,631,652,0.437095288744,-0.00543106482292,0.0497778943888,0.999999937195,-8.06599562436e-06,-0.000352202437402,-3.87212911525e-05,1793244750832246784
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.19904729,633,881,786.80095271,806,652,631,652,0.436269893364,-0.00542627926774,0.049787002448,0.999999939947,-9.30315941005e-06,-0.000344026290984,-4.08159178408e-05,1793244750848913408
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.780911828,633,881,786.219088172,806,652,631,652,0.435420156544,-0.00541940843313,0.0497972656656,0.999999945436,-6.49875926397e-06,-0.000327495089296,-4.2817016862e-05,1793244750865580288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.641886239,633.358113761,881,786.358113761,806,652,631,652,0.434569628657,-0.00541614939043,0.049793432503,0.999999943879,2.54559036465e-05,-0.000332212351605,-3.50646502961e-05,1793244750882246912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.067500172,633.932499828,881,786.932499828,806,652,631,652,0.433718623059,-0.00541507158382,0.0497810862444,0.99999993579,7.50150129587e-05,-0.000349762000617,-2.14219639919e-05,1793244750898913536
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.50351406,633.49648594,879.99297188,786.49648594,806,652,631,652,0.432872443747,-0.00541479821832,0.0497979449361,0.999999943586,7.03343011921e-05,-0.000327693357386,-2.23163513283e-05,1793244750915579904
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.077103861,745,714,680.077103861,660,633.077103861,879.077103861,786.077103861,806,652,630.922896139,652,0.432019476138,-0.00541449385424,0.0498154061943,0.999999951808,5.88602474249e-05,-0.000303773126858,-2.53254691938e-05,1793244750932246784
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.670964424,745,714,680.670964424,660,633.670964424,879.670964424,786.670964424,806,652,630.329035576,652,0.431116705737,-0.00541326377717,0.0498108406916,0.999999952456,5.02652809948e-05,-0.00030280244885,-2.95334597114e-05,1793244750948913664
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.741090323,745,714,680.741090323,660,633.741090323,879.741090323,787,806,652,630.258909677,651.741090323,0.430198264624,-0.00541096418939,0.0497963091108,0.999999946739,4.24161870395e-05,-0.000321842593437,-3.37757081738e-05,1793244750965580288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.160494551,745,714,680.160494551,660,633.160494551,879.160494551,787,806,652,630.839505449,651.160494551,0.429260353082,-0.00540733577233,0.0497693950308,0.999999931761,3.54938119739e-05,-0.000365745475076,-3.80605214398e-05,1793244750982246912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.415153106,879.415153106,787,806.415153106,652,631,651.415153106,0.428363164496,-0.00540567955009,0.0497812107841,0.999999935235,3.35756908394e-05,-0.00035629437942,-3.81719993873e-05,1793244750998913536
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.988910362,879.988910362,787,806.988910362,652,631,651.988910362,0.42748153367,-0.0054047767809,0.0498078227965,0.999999945475,3.35693839063e-05,-0.000326460048841,-3.66891055294e-05,1793244751015580160
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.575994674,745,714,680,659.424005326,634,879.424005326,787,806.424005326,652,631,652,0.426535079807,-0.0053998581008,0.0497857272472,0.999999934046,4.80752476886e-05,-0.000358163831041,-3.62668344678e-05,1793244751032246528
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.892387534,745,714,679.892387534,660.784775068,634,879,787,806,652,631,651.892387534,0.423011993679,-0.00539882737891,0.0498378966812,0.999999970928,4.51317176241e-05,-0.000233590632715,-3.92698984815e-05,1793244751098913280
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.533622423,745,714,680,660.067244846,634,879,787,806.466377577,652,631,652,0.422101345816,-0.00539729631635,0.04981881286,0.999999960847,4.57761902624e-05,-0.000273126432038,-4.01537829891e-05,1793244751115579648
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,787,806.957476761,652,631,652,0.421185815546,-0.00539606601377,0.049794410266,0.999999946104,4.60337681596e-05,-0.000322469302241,-4.10681663924e-05,1793244751132246272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,787,806.361118864,652,631,652,0.420298142939,-0.00539680033092,0.0498056568538,0.999999948593,4.62428610988e-05,-0.000314722555858,-4.0310229165e-05,1793244751148912896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.45605405,634,879,787,806,652,630.771972975,652,0.419411096037,-0.00539548538788,0.0498089031168,0.999999946676,4.8979967417e-05,-0.000320384830813,-4.00251690811e-05,1793244751165579520
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.612203485,634,879,787,806,652,630.193898257,652,0.41852500953,-0.00539102459504,0.0497998679633,0.999999937559,5.55978648562e-05,-0.000346631493456,-4.04660296329e-05,1793244751182246144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.237614144,634,879,786.618807072,806,652,630,652,0.417684031039,-0.00539170299933,0.0497883501307,0.999999932433,5.43556593447e-05,-0.000361157985706,-4.17579153475e-05,1793244751198913024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.090443489,634,879,786.045221744,806,652,630,652,0.416865819129,-0.00539497521507,0.0497755792623,0.999999929482,4.91463702209e-05,-0.000369769173338,-4.34793231068e-05,1793244751215580160
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.086786613,634,879.543393307,786.543393307,806,652,630,652,0.416109306911,-0.00539828749646,0.0498006158441,0.999999946143,4.53909824345e-05,-0.000322164809603,-4.31761309225e-05,1793244751232246784
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.869093437,634,880,787,806,652.130906563,630,652,0.415343546136,-0.0054001568207,0.049820235749,0.999999957216,4.3819332053e-05,-0.000286021584144,-4.28870139053e-05,1793244751248913664
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.28976096,634,880,787,806,652.71023904,630,652,0.414528014562,-0.00539707148792,0.049810215971,0.999999951148,4.93019021435e-05,-0.00030562060388,-4.32396973431e-05,1793244751265580544
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.712138949,634,879.712138949,787,806,652.712138949,630,652,0.413733862536,-0.00539313173443,0.0497932750528,0.999999941612,5.53036921309e-05,-0.000334253182787,-4.4635236354e-05,1793244751282247168
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.136228559,634,879.136228559,787,806,652.136228559,630,652,0.41296110409,-0.00538833700154,0.0497694084678,0.999999927817,6.18250412611e-05,-0.000371925228221,-4.7074313007e-05,1793244751298913792
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.438767243,634,879,787,805.561232757,652.438767243,630,652,0.412259216634,-0.00538994137871,0.0497837805555,0.999999934644,6.05843608047e-05,-0.000353411003271,-4.62898474651e-05,1793244751315580416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,805.013878314,653,630.013878314,652.013878314,0.411579570352,-0.00539347035111,0.0498096436918,0.99999994681,5.7078555627e-05,-0.000318026492534,-4.45178215869e-05,1793244751332246784
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879,787,805.605584989,653,630.605584989,652.605584989,0.410911705129,-0.00539458157896,0.0498206592536,0.999999950775,5.939418106e-05,-0.00030504833622,-4.32122833519e-05,1793244751348913408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.192013941,714,680,659.807986059,634,879,787,806,653,631,652.807986059,0.410243459964,-0.00539507594506,0.0498197384752,0.999999949387,6.11688722604e-05,-0.000309246739584,-4.30206777389e-05,1793244751365580288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.767892055,714,680,659.232107945,634,879,787,806,653,631,652.232107945,0.409574455122,-0.0053943371138,0.0497949551955,0.999999936595,6.18621565688e-05,-0.000347783615066,-4.50559873697e-05,1793244751382247168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.658584478,713.658584478,680,659.341415522,634,879,787,805.658584478,653,631,652,0.408968819725,-0.00539541818988,0.0497937724439,0.999999936828,6.34060503564e-05,-0.00034679214638,-4.53784387821e-05,1793244751398913792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.086650863,713.086650863,680,659.913349137,634,879,787,805.086650863,653,631,652,0.408405970366,-0.00539772803722,0.0498085243786,0.999999945945,6.55242615075e-05,-0.00031911179361,-4.45443966411e-05,1793244751415580416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.487720139,679.512279861,660,634,879,787,805,653,630.512279861,652,0.407865213948,-0.00540036229108,0.0498233268684,0.99999995215,6.15431869886e-05,-0.000299999111596,-4.37449554896e-05,1793244751432247296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.065156547,660.065156547,634,879,787,805.065156547,653,630.065156547,652,0.407328239064,-0.00540246789423,0.0498344201919,0.999999955883,5.76101135891e-05,-0.000288186792062,-4.31755556407e-05,1793244751448913920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.664142194,660.664142194,634,879,787,805.664142194,653,630.664142194,652,0.406789926034,-0.00539976766736,0.0498150502722,0.999999944653,6.29931151172e-05,-0.000323652646953,-4.44402708655e-05,1793244751465580544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.496288444,634,879,787,805.748144222,653,630.748144222,652,0.406266700579,-0.00539974060574,0.0497948381527,0.999999932903,6.45116159005e-05,-0.000357667271362,-4.58928892883e-05,1793244751482246912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.349636804,634,879,787,805.174818402,653,630.174818402,652,0.405762733026,-0.00540312558653,0.0497735510462,0.999999921018,6.10974472072e-05,-0.000389829534981,-4.75853482688e-05,1793244751498913536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.401147241,634,879,787,805,653,630,652,0.405319444699,-0.00540563277316,0.0497732593098,0.999999920427,5.96068726271e-05,-0.000391618370968,-4.7208761472e-05,1793244751515580160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.97827098,634,879,787,805,653,630,652,0.404902775277,-0.00540775488668,0.0497821778847,0.999999924976,5.89601459074e-05,-0.000380082901752,-4.59245195059e-05,1793244751532246784
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.434341179,679.434341179,660,634,879,787,805.565658821,653,630,652,0.40456134093,-0.00540579046719,0.0498062163824,0.999999939221,6.45825140172e-05,-0.000339659325479,-4.49195869973e-05,1793244751548913408
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,679,660,634,879,787,806,653,630.731248769,652,0.403901186815,-0.0054083469621,0.0498501358686,0.9999999597,6.90789298959e-05,-0.000272181145876,-4.17702655231e-05,1793244751582246912
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.303360374,713.303360374,679,659.696639626,634,879,787,806,653,630.696639626,652,0.403581198991,-0.00541076289685,0.0498566595234,0.999999960914,6.81335235754e-05,-0.00026807435522,-4.08101302082e-05,1793244751598913280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.868771398,713.868771398,679,659.131228602,634,879,787,806,653,630.131228602,652,0.403265667683,-0.00541243931436,0.0498512007145,0.999999956191,6.62614509544e-05,-0.000285609130021,-4.0674751197e-05,1793244751615579648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.553178114,714,679.446821886,659.446821886,634,879,787,806,653,630,652.446821886,0.402972464262,-0.00541346672329,0.0498388513145,0.999999949196,6.3066716416e-05,-0.000309717818141,-4.13089014357e-05,1793244751632246272
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.376323388,660,634,879,787,806,653,630.623676612,652.376323388,0.402458701523,-0.00541190497638,0.0498167108275,0.999999936458,6.66753254117e-05,-0.000347621933972,-4.23879343063e-05,1793244751665580032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.211924223,660,634,879,787,806,653,631,652,0.402243123778,-0.00541003547358,0.0498103813335,0.999999933175,7.38992564342e-05,-0.000355536962922,-4.22232544102e-05,1793244751682246912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.789608906,660,634,879,787,806,653,631,652,0.402052588144,-0.00540880796471,0.0498069771154,0.999999932564,8.20348782529e-05,-0.000355573451322,-4.13548688489e-05,1793244751698913536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.634804608,660,634,878.634804608,787,806,653,630.634804608,652,0.401888377533,-0.00540754545556,0.0498089630776,0.999999934861,8.70382265986e-05,-0.00034789470757,-4.08932821907e-05,1793244751715580160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.060419946,660,634,878.060419946,787,806,653,630.060419946,652,0.401739246264,-0.00540626289762,0.0498140366137,0.999999938721,9.02473635762e-05,-0.000335796565796,-4.06647158167e-05,1793244751732247040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.056073748,787,806,653,630.528036874,652,0.401623675791,-0.00540773289619,0.0498222256548,0.99999994382,8.88943095075e-05,-0.00032068870116,-4.02097332266e-05,1793244751748913408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.116075208,879.883924792,787,805.883924792,653,631,652,0.401515508177,-0.005410470146,0.0498296788055,0.999999948445,8.5704847059e-05,-0.000306884349338,-3.98297489536e-05,1793244751765579776
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.695833701,879.304166299,787,805.304166299,653,631,652,0.401421152399,-0.005416977056,0.0498327292685,0.999999951306,7.73219301248e-05,-0.000299700478194,-3.98556841043e-05,1793244751782246400
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.273708967,660,634.726291033,879.273708967,787,805.273708967,653,631,651.726291033,0.401335854801,-0.00542248514179,0.049834236237,0.999999953109,6.98512493704e-05,-0.000295468367518,-4.00134073307e-05,1793244751798913024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.849505714,660,634.150494286,879.849505714,787,805.849505714,653,631,651.150494286,0.401260554563,-0.00542689084247,0.0498340396777,0.999999953815,6.33873881714e-05,-0.000294494063469,-4.03165827427e-05,1793244751815579648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.575204757,745,714,679.575204757,660,634,879.575204757,787,805.575204757,653,630.575204757,651.424795243,0.401196994763,-0.00542852361282,0.0498346891351,0.999999954137,6.08453394119e-05,-0.000293950449741,-4.02194982046e-05,1793244751832246528
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.000094721,745,714,679.000094721,660,634,879.000094721,787,805.000094721,653,630.000094721,651.999905279,0.401137589347,-0.00542917517517,0.0498356379575,0.999999954331,5.96910333231e-05,-0.000293559236815,-3.99807807381e-05,1793244751848913408
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.244142091,634,878.244142091,787,805,653,630,652,0.401049751553,-0.00542717695378,0.0498415605061,0.999999958672,6.45915294217e-05,-0.000277263874124,-4.01172256167e-05,1793244751898912768
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.667600258,745.332399742,714,679.332399742,659.332399742,634,877.667600258,787,805.332399742,653,630.332399742,652,0.401028998712,-0.00542807781444,0.049841954905,0.999999958969,6.38863675342e-05,-0.00027642434905,-3.96368334743e-05,1793244751915579648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.092034157,745.907965843,714,679.907965843,659.907965843,634,877.092034157,787,805.907965843,653,630.907965843,652,0.401011011398,-0.00542898990804,0.0498416223726,0.999999958865,6.30367814979e-05,-0.00027706465808,-3.91282170115e-05,1793244751932246272
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.33727936,745,714,679.33727936,660,634,879,787,806,653,631,652,0.400987330883,-0.00542957507566,0.0498410797505,0.99999995929,6.25190807371e-05,-0.000275597711456,-3.9471124097e-05,1793244751982246912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,631,652,0.400984478018,-0.00543001232408,0.0498417476371,0.999999959887,6.20315768343e-05,-0.000273531321627,-3.94826960046e-05,1793244751998913792
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2383ac2a9e88edc9d6f71dcb455eea09a6e36f4b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.587964551213,-0.000122398796381,1.04005106101,0.558536186922,0.00855329512878,1.03971754332
+336,5.600000000,pose2_to_pose3_retreat,0.587320410821,-0.000122393992519,1.0400510018,0.557892046723,0.00855330106873,1.03971749651
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+339,5.650000000,pose2_to_pose3_retreat,0.585442138995,-0.000122243529827,1.0400509511,0.556013773936,0.0085534477882,1.03971743335
+340,5.666666667,pose2_to_pose3_retreat,0.584852551508,-0.000122109997678,1.04005084673,0.555424184744,0.00855357570949,1.03971733339
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+347,5.783333333,pose2_to_pose3_retreat,0.581252849222,-0.00012214008371,1.0400510553,0.551824482547,0.00855354616193,1.03971754757
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+358,5.966666667,pose2_to_pose3_retreat,0.577519005546,-0.00012211335195,1.04005090344,0.548090637891,0.00855356959003,1.03971739641
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+369,6.150000000,pose2_to_pose3_retreat,0.575954422207,-0.000122185625741,1.04005111964,0.546526055241,0.00855349957554,1.03971761131
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+374,6.233333333,pose2_to_pose3_retreat,0.57574313662,-0.000122225455832,1.04005088527,0.54631476993,0.00855346067904,1.03971737667
+375,6.250000000,pose2_to_pose3_retreat,0.575723524598,-0.000122218269471,1.04005067708,0.546295157938,0.00855346797072,1.03971716871
+376,6.266666667,pose2_to_pose3_retreat,0.575707654286,-0.000122142368903,1.04005086549,0.546279288137,0.00855354560589,1.03971735717
+377,6.283333333,pose2_to_pose3_retreat,0.575695300698,-0.000122176410928,1.04005106946,0.546266936307,0.00855351741154,1.03971755815
+378,6.300000000,pose2_to_pose3_retreat,0.575686037194,-0.00012214682893,1.04005107693,0.546257672216,0.00855354517379,1.03971757024
+379,6.316666667,pose2_to_pose3_retreat,0.575679614759,-0.000122105049554,1.04005101168,0.546251248113,0.00855358149091,1.03971751011
+380,6.333333333,pose2_to_pose3_retreat,0.575676054771,-0.000122183451161,1.04005111911,0.546247688463,0.00855350394502,1.03971760973
+381,6.350000000,pose2_to_pose3_retreat,0.575673809154,-0.000122230690772,1.04005106092,0.546245443147,0.00855345769877,1.03971755076
+382,6.366666667,pose2_to_pose3_retreat,0.575672498034,-0.000122257064698,1.04005095832,0.546244132251,0.00855343215198,1.03971744996
+383,6.383333333,pose2_to_pose3_retreat,0.575671903589,-0.000122269022297,1.04005091179,0.546243537907,0.00855342056939,1.03971740426
+384,6.400000000,pose2_to_pose3_retreat,0.575671698891,-0.000122273139918,1.04005089577,0.546243333244,0.00855341658091,1.03971738852
+385,6.416666667,pose2_to_pose3_retreat,0.575671376759,-0.000122263518576,1.04005089321,0.546243011177,0.00855342643809,1.03971738636
+386,6.433333333,pose2_to_pose3_retreat,0.575671082125,-0.000122252779294,1.04005089358,0.546242716604,0.008553437397,1.03971738711
+387,6.450000000,pose2_to_pose3_retreat,0.575670908295,-0.000122246443236,1.04005089381,0.546242542809,0.00855344386264,1.03971738755
+388,6.466666667,pose2_to_pose3_retreat,0.575670901805,-0.0001222462067,1.04005089382,0.546242536321,0.00855344410402,1.03971738756
+389,6.483333333,pose2_to_pose3_retreat,0.575670664593,-0.000122237560394,1.04005089412,0.546242299157,0.00855345292715,1.03971738816
+390,6.500000000,pose2_to_pose3_retreat,0.575670634783,-0.000122236473856,1.04005089416,0.546242269354,0.00855345403591,1.03971738824
+391,6.516666667,pose2_to_pose3_retreat,0.575670615835,-0.000122235783183,1.04005089418,0.546242250409,0.00855345474071,1.03971738829
+392,6.533333333,pose2_to_pose3_retreat,0.575670345136,-0.000122225916335,1.04005089453,0.546241979767,0.00855346480935,1.03971738897
+393,6.550000000,pose2_to_pose3_retreat,0.575670216129,-0.000122221214044,1.0400508947,0.546241850785,0.00855346960781,1.0397173893
+394,6.566666667,pose2_to_pose3_retreat,0.575670075489,-0.000122223096014,1.0400508916,0.546241709763,0.00855346643086,1.03971738632
+395,6.583333333,pose2_to_pose3_retreat,0.575670020005,-0.000122224175994,1.04005089022,0.546241654107,0.00855346477258,1.03971738499
+396,6.600000000,pose2_to_pose3_retreat,0.575669942563,-0.000122225683362,1.0400508883,0.546241576427,0.00855346245805,1.03971738312
+397,6.616666667,pose2_to_pose3_retreat,0.575669941269,-0.000122225708555,1.04005088827,0.546241575129,0.00855346241937,1.03971738309
+398,6.633333333,pose2_to_pose3_retreat,0.57566992699,-0.000122225986487,1.04005088791,0.546241560806,0.00855346199261,1.03971738275
+399,6.650000000,pose2_to_pose3_retreat,0.575669787472,-0.000122228702142,1.04005088444,0.546241420858,0.00855345782279,1.03971737939
+400,6.666666667,pose2_to_pose3_retreat,0.575669697976,-0.000122230444132,1.04005088222,0.546241331087,0.008553455148,1.03971737724
+401,6.683333333,pose2_to_pose3_retreat,0.575669489326,-0.000122275250046,1.04005079499,0.546241123699,0.0085534144221,1.03971728473
+402,6.700000000,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343059,1.03971728237
+403,6.716666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6c9e8bea53c6ffd94d4a1028dea8c16fa35246e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d672f2c502125bd613d451ddb2506a090171699ec8903278a3713d6363243f5
+size 25566042
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c14558ab3d259a9bb53d06bda3fe652ba8fb0123
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+15,0.250000000,BASELINE,765,745,714,679,660.299643368,634,879,787,805.299643368,653,630,652,0.40098169211,-0.00543458913723,0.0498508112832,0.999999963877,6.49729224967e-05,-0.000258222979791,-3.66801637588e-05,1793244752730158592
+16,0.266666667,BASELINE,765,745,713.724129909,679.275870091,660,634,879,787,805,653,630.275870091,652,0.4009824979,-0.00543494237941,0.0498514443187,0.999999964263,6.49147962939e-05,-0.000256760606117,-3.65207818614e-05,1793244752746825472
+17,0.283333333,BASELINE,765,745,713.151053756,679.848946244,660,634,879,787,805,653,630.848946244,652,0.400983558324,-0.00543311478253,0.0498524942985,0.999999964492,6.60642393016e-05,-0.000255559899748,-3.66194112171e-05,1793244752763492352
+18,0.300000000,BASELINE,765,745,713.435421624,680,660,634,879,787,805,652.564578376,630.564578376,652,0.400984158051,-0.00543159234341,0.0498524529316,0.999999964478,6.72700763584e-05,-0.000255276356241,-3.67889836392e-05,1793244752780158720
+19,0.316666667,BASELINE,765,745,714,680,660,634,879,787,805.026154724,652.026154724,630.026154724,651.973845276,0.400984599128,-0.00543033923994,0.0498520519068,0.999999964392,6.83512959873e-05,-0.000255300802147,-3.69643372283e-05,1793244752796825088
+20,0.333333333,BASELINE,765,745,714,680,660,634,879,787,805.605503735,652.605503735,630.605503735,651.394496265,0.400985172336,-0.00543247261857,0.049852305839,0.999999964637,6.63698230675e-05,-0.00025489611611,-3.67248941427e-05,1793244752813491712
+21,0.350000000,BASELINE,765,745,714,680,660,634.183229127,879,787,805.816770873,653,631,651.183229127,0.4009851624,-0.00543407370336,0.0498525317457,0.999999964764,6.50392032442e-05,-0.000254774981564,-3.6498590888e-05,1793244752830158336
+22,0.366666667,BASELINE,765,745,714,680,660,634.757489463,879,787,805.242510537,653,631,651.757489463,0.400983907971,-0.00543453881398,0.0498526978428,0.999999964644,6.50975761223e-05,-0.000255258977293,-3.63003295158e-05,1793244752846825216
+23,0.383333333,BASELINE,765,745,713.668242325,680,660,634.668242325,879,787,805,653,630.668242325,652,0.400983990584,-0.00543401284635,0.0498529635262,0.999999964677,6.61315110029e-05,-0.000254872218238,-3.62296529571e-05,1793244752863492096
+24,0.400000000,BASELINE,765,745,713.093968297,680,660,634.093968297,879,787,805,653,630.093968297,652,0.40098505058,-0.00543276239611,0.0498533020077,0.999999964819,6.78785861053e-05,-0.000253848933565,-3.62522414508e-05,1793244752880158720
+25,0.416666667,BASELINE,764.503722816,745,713.496277184,680,660,634,879,787,805.496277184,653,630.496277184,652,0.400984524913,-0.00543314557901,0.0498527857999,0.999999964692,6.64090786804e-05,-0.000254712307994,-3.64368336603e-05,1793244752896825344
+26,0.433333333,BASELINE,764,745,714,679.912730891,660,634,878.912730891,787,806,653,631,652,0.400983782462,-0.00543373888696,0.0498520998962,0.999999964515,6.4580154772e-05,-0.000255849000323,-3.66233292956e-05,1793244752913491968
+27,0.450000000,BASELINE,764,745,714,679.335101987,660,634,878.335101987,787,806,653,631,652,0.400983565045,-0.00543371701517,0.0498514000458,0.999999964381,6.4267693528e-05,-0.000256447437406,-3.66424288816e-05,1793244752930158336
+28,0.466666667,BASELINE,764.241207156,745,714,679,660,634,878.241207156,787,805.758792844,652.758792844,630.758792844,652,0.400983686881,-0.00543369721749,0.0498513811646,0.999999964423,6.38693797802e-05,-0.000256384414671,-3.66395107466e-05,1793244752946824960
+29,0.483333333,BASELINE,764.815692736,745,714,679,660,634,878.815692736,787,805.184307264,652.184307264,630.184307264,652,0.400984277463,-0.00543368028563,0.0498523031857,0.999999964707,6.33524427584e-05,-0.000255407446022,-3.66061704973e-05,1793244752963491584
+30,0.500000000,BASELINE,765,745,714,679,660,634,879,787,805.400612064,652.400612064,630.400612064,652,0.400984398052,-0.0054330852817,0.0498531020443,0.99999996483,6.46884312559e-05,-0.000254580871634,-3.66680238263e-05,1793244752980158464
+31,0.516666667,BASELINE,765,745,714,679,660,634,879,787,805.990459931,652.990459931,630.990459931,652,0.400984296631,-0.00543221721576,0.049853842725,0.999999964872,6.68996801002e-05,-0.000253825338516,-3.67748434333e-05,1793244752996825088
+32,0.533333333,BASELINE,765,745,714,679,661.139416618,634,879,787,805.430291691,652.430291691,630.430291691,652,0.400985505754,-0.00543158518997,0.0498535634257,0.999999964953,6.73831708332e-05,-0.000253348798526,-3.69717153318e-05,1793244753013491968
+33,0.550000000,BASELINE,765,745,713.852016059,679,661.704032117,634,879,787,805,652.147983941,630,652,0.400986178806,-0.00543172345481,0.0498533285949,0.99999996501,6.70985311433e-05,-0.000253198062175,-3.7001766604e-05,1793244753030158848
+34,0.566666667,BASELINE,765,745,713.276049843,679,660.552099685,634,879,787,805,652.723950157,630,652,0.400985239182,-0.00543407824392,0.0498532708654,0.999999964989,6.46745383469e-05,-0.000253976313308,-3.65450767241e-05,1793244753046825472
+35,0.583333333,BASELINE,765,745,713.299573552,679,660,634,879.299573552,786.700426448,805.299573552,653,630,652,0.400984860295,-0.00543442361347,0.0498532922606,0.999999965115,6.30574661046e-05,-0.000253874517938,-3.66308421959e-05,1793244753063492096
+36,0.600000000,BASELINE,765,745,713.874881472,679,660,634,879.874881472,786.125118528,805.874881472,653,630,652,0.400984997521,-0.00543291946742,0.0498533864841,0.999999965379,6.21831017697e-05,-0.00025296270767,-3.72158959632e-05,1793244753080158464
+37,0.616666667,BASELINE,765,745,714,679,660,634,879.540948972,786.459051028,806,653,630,652,0.40098401173,-0.00543359513149,0.0498527092352,0.999999964944,6.42821393697e-05,-0.00025422412021,-3.67504382411e-05,1793244753096825088
+38,0.633333333,BASELINE,765,744.954926581,713.954926581,679,660,634,879,787,806,653,630,652,0.400982900797,-0.00543470417117,0.0498519373989,0.999999964369,6.70236606628e-05,-0.000255870062112,-3.60563917972e-05,1793244753113491712
+39,0.650000000,BASELINE,765,744.376127244,713.376127244,679,660,634,879,787,806,653,630,652,0.400984003819,-0.00543377123003,0.0498525844222,0.999999964572,6.75876165747e-05,-0.000254917301347,-3.61127707511e-05,1793244753130158336
+40,0.666666667,BASELINE,765,744.202084241,713.202084241,679.202084241,660,634,879,787,806,652.797915759,630.202084241,652.202084241,0.400984253263,-0.00543238807986,0.0498528152343,0.999999964622,6.846770172e-05,-0.00025444017963,-3.64472202906e-05,1793244753146824960
+41,0.683333333,BASELINE,765,744.779204727,713.779204727,679.779204727,660,634,879,787,806,652.220795273,630.779204727,652.779204727,0.400982918601,-0.00543016941329,0.0498522736245,0.999999964386,6.99344724658e-05,-0.000254845768483,-3.72977246571e-05,1793244753163492096
+42,0.700000000,BASELINE,765,745,714,679.635939279,660,634,878.635939279,786.635939279,805.635939279,652.364060721,630.635939279,652.635939279,0.400983460262,-0.00543073759819,0.0498522940703,0.999999964661,6.84316082282e-05,-0.000254169185232,-3.73154576072e-05,1793244753180158720
+43,0.716666667,BASELINE,765,745,714,679.046290036,660,634,878.046290036,786.046290036,805.046290036,652.953709964,630.046290036,652.046290036,0.400985164578,-0.00543303264264,0.0498526627913,0.999999965244,6.50886235185e-05,-0.000252822039086,-3.68171676153e-05,1793244753196825088
+44,0.733333333,BASELINE,764.467122837,745,713.467122837,679,660,634,878,786.532877163,805,653,630,652,0.400983807787,-0.00543341962224,0.0498523503868,0.999999964809,6.48087368303e-05,-0.000254628519794,-3.66821055681e-05,1793244753213491456
+45,0.750000000,BASELINE,764.110169772,745,713.110169772,679,660,634,878.220339544,787,805,653,630,652,0.400982403899,-0.00543375364345,0.0498520629401,0.999999964361,6.49555917837e-05,-0.000256366522298,-3.655074515e-05,1793244753230158080
+46,0.766666667,BASELINE,764.683336971,745,713.683336971,679,660,634,879.366673941,787,805,653,630,652,0.400981898042,-0.00543454824277,0.0498521242425,0.999999964232,6.57991893074e-05,-0.000256687653292,-3.63048954975e-05,1793244753246824960
+47,0.783333333,BASELINE,765,745,714,679.257495003,660,634,879.742504997,787,805.257495003,653,630,652,0.400982005632,-0.00543406915343,0.0498520540495,0.999999964256,6.70276592992e-05,-0.000256271945407,-3.63387153809e-05,1793244753263491584
+48,0.800000000,BASELINE,765,745,714,679.832876331,660,634,879.167123669,787,805.832876331,653,630,652,0.400982870545,-0.00543201765232,0.049851821521,0.999999964465,6.87312675338e-05,-0.000254946584946,-3.67177967686e-05,1793244753280158208
+49,0.816666667,BASELINE,765,745,714,679.578422276,660,634,878.578422276,787,806,653,630,651.578422276,0.400982696752,-0.00543176710634,0.0498520141201,0.999999964424,6.83061216178e-05,-0.00025520509649,-3.68199625371e-05,1793244753296824832
+50,0.833333333,BASELINE,765,745,714,679,660,634,878.015311031,787,805.984688969,653,630,651.015311031,0.400982154812,-0.00543226383256,0.0498523969713,0.999999964297,6.70457134834e-05,-0.000256040043838,-3.67974155143e-05,1793244753313491712
+51,0.850000000,BASELINE,765,745,714,679,660,634,878.593575025,787,805.406424975,653,630,651.593575025,0.400983710663,-0.00543312956955,0.0498533762929,0.99999996477,6.71148630452e-05,-0.000254230087499,-3.63573671672e-05,1793244753330158336
+52,0.866666667,BASELINE,765,745,714,679,660,634,879,787,805.171052029,653,630.171052029,652,0.400984876486,-0.00543355900362,0.0498540965629,0.999999965148,6.70077446301e-05,-0.000252797684888,-3.61478125085e-05,1793244753346824960
+53,0.883333333,BASELINE,765,745,714,679,660,634,879,787,805.746667652,653,630.746667652,652,0.400985119831,-0.00543295651606,0.0498542041372,0.999999965307,6.64837261217e-05,-0.00025225825334,-3.64834098714e-05,1793244753363491584
+54,0.900000000,BASELINE,765,745,713.67842468,679.32157532,660,634,879.32157532,787,806,653,630.67842468,652,0.40098514341,-0.0054328428464,0.0498540414865,0.999999965269,6.63284439247e-05,-0.000252442548187,-3.65505782248e-05,1793244753380157952
+55,0.916666667,BASELINE,765,745,713.104073529,679.895926471,660,634,879.895926471,787,806,653,630.104073529,652,0.400984994239,-0.00543311341445,0.0498536664241,0.999999965075,6.6463008707e-05,-0.000253195731678,-3.64067466454e-05,1793244753396824576
+56,0.933333333,BASELINE,765,745,713.485295373,679.514704627,660,634,879.514704627,787,806,652.514704627,630,652,0.400985486066,-0.00543299980988,0.0498538177122,0.999999965188,6.7615945109e-05,-0.00025244446314,-3.63971753677e-05,1793244753413491712
+57,0.950000000,BASELINE,765,745,714,679,660.076222449,634,879,787,805.923777551,652.076222449,630,652,0.400986130241,-0.00543303494621,0.0498540899488,0.999999965383,6.85771155157e-05,-0.000251410241895,-3.63939859677e-05,1793244753430158592
+58,0.966666667,BASELINE,765,745,714,679,660.655498662,634,879,787,805.344501338,652.655498662,630,652,0.400986843669,-0.00543461284917,0.0498543916596,0.999999965687,6.67852796512e-05,-0.000250705919459,-3.62368213911e-05,1793244753446825472
+59,0.983333333,BASELINE,765,745,714,679,660.767624389,634,879,787,805,653,630.232375611,652,0.400986748742,-0.00543559724919,0.04985435458,0.99999996568,6.54966335435e-05,-0.000251103662281,-3.60169166662e-05,1793244753463492096
+60,1.000000000,BASELINE,765,745,714,679,660.194267959,634,879,787,805,653,630.805732041,652,0.400985467659,-0.00543571076149,0.0498538203701,0.999999965219,6.4946352329e-05,-0.000253118541629,-3.57049489557e-05,1793244753480158976
+61,1.016666667,BASELINE,765,745,714,679,660,634,879,787,805.389765684,652.610234316,631,652,0.400984824286,-0.00543574897431,0.0498540213288,0.999999965174,6.47726759088e-05,-0.000253317065851,-3.58722166569e-05,1793244753496825344
+62,1.033333333,BASELINE,765,745,714,679,660,634,879,787,805.979270943,652.020729057,631,652,0.400984507716,-0.0054357485991,0.0498545990325,0.999999965343,6.47919946589e-05,-0.000252584779423,-3.62850736671e-05,1793244753513491712
+63,1.050000000,BASELINE,765,745,714,679.559510412,660,634,879,787,805.440489588,652.559510412,630.440489588,652,0.400984725117,-0.00543540421802,0.0498543399423,0.999999965311,6.37840664051e-05,-0.000252991284485,-3.61362698717e-05,1793244753530158336
+64,1.066666667,BASELINE,765,745,714,679.861403429,660,634,879,787,805,652.861403429,630.138596571,652,0.400984974184,-0.00543465243184,0.0498541664468,0.999999965273,6.38522145133e-05,-0.00025313770848,-3.60257195687e-05,1793244753546824960
+65,1.083333333,BASELINE,765,745,714,679.284894346,660,634,879,787,805,652.284894346,630.715105654,652,0.400985261815,-0.00543265301346,0.0498543597571,0.999999965239,6.74386451425e-05,-0.000252331240502,-3.6100712369e-05,1793244753563491584
+66,1.100000000,BASELINE,765,745,714,679,660,634.289680112,878.710319888,787,805.289680112,652.289680112,631,652.289680112,0.400985320514,-0.00543266458006,0.0498542207412,0.999999965331,6.75880972279e-05,-0.00025191298026,-3.61922065843e-05,1793244753580158464
+67,1.116666667,BASELINE,765,745,714,679,660,634.862364497,878.137635503,787,805.862364497,652.862364497,631,652.862364497,0.400985155559,-0.00543464078751,0.049853757058,0.999999965549,6.4379777638e-05,-0.00025187398134,-3.62998219257e-05,1793244753596825344
+68,1.133333333,BASELINE,765,745,713.550156577,679,660,634.550156577,878.899686846,787,806,653,631,652.550156577,0.400984584566,-0.00543526302075,0.0498534248991,0.999999965455,6.36734472362e-05,-0.0002524200324,-3.63315301619e-05,1793244753613492224
+69,1.150000000,BASELINE,765,745,713.04102059,679,660,634,879.95897941,787,805.95897941,653,631,652,0.400984018998,-0.00543534318531,0.0498531954051,0.999999965288,6.38139875246e-05,-0.000253041518362,-3.63457101378e-05,1793244753630158848
+70,1.166666667,BASELINE,765,745,713.619331214,679,660,634,879.380668786,787,805.380668786,653,631,652,0.400985207042,-0.00543393390804,0.0498537656093,0.999999965435,6.46791333732e-05,-0.00025222672121,-3.64448481871e-05,1793244753646825216
+71,1.183333333,BASELINE,765,745.196715881,714,679,660,634,879.196715881,787,805.196715881,653,631,652.196715881,0.400985609056,-0.0054335717491,0.0498540740659,0.999999965461,6.50629074998e-05,-0.000252035565715,-3.63586581432e-05,1793244753663491840
+72,1.200000000,BASELINE,765,745.772317205,714,679,660,634,879.772317205,787,805.772317205,653,631,652.772317205,0.400984497135,-0.00543522639651,0.0498538783827,0.999999965258,6.45195337687e-05,-0.000253045577688,-3.59155161703e-05,1793244753680158464
+73,1.216666667,BASELINE,765,745.653819699,714,679,660,634,879.653819699,787,805.653819699,653,631,652.653819699,0.400984389236,-0.0054348808195,0.0498537445167,0.999999965223,6.52271293513e-05,-0.000252979643038,-3.60558344952e-05,1793244753696825088
+74,1.233333333,BASELINE,765,745.08109416,714,679,660,634,879.08109416,787,805.08109416,653,631,652.08109416,0.400984938384,-0.00543322626748,0.0498536511048,0.999999965298,6.67533768112e-05,-0.000252209593785,-3.65779774397e-05,1793244753713491712
+75,1.250000000,BASELINE,765,745,714,679.509920527,660,634,879,787,805.509920527,653,630.490079473,652,0.400984797029,-0.00543358348286,0.0498533191145,0.999999965282,6.57810420079e-05,-0.000252506213419,-3.67304445762e-05,1793244753730158592
+76,1.266666667,BASELINE,765,745,714,680,660,634.101167873,878.898832127,787,806,653,630,652,0.400984504851,-0.00543417501167,0.0498530002005,0.999999965243,6.46733843178e-05,-0.000252946017802,-3.67453184231e-05,1793244753746825728
+77,1.283333333,BASELINE,765,745,714,680,660,634.679289537,878.320710463,787,806,653,630,652,0.400984038588,-0.0054343067571,0.0498529284643,0.99999996517,6.48707699948e-05,-0.000253231369564,-3.63989896794e-05,1793244753763492096
+78,1.300000000,BASELINE,765,745,714,679.744034137,660,635,878.255965863,787,806,653,630,652,0.400983846477,-0.00543432436415,0.0498527205182,0.999999965086,6.52566329985e-05,-0.000253501223677,-3.614843743e-05,1793244753780158720
+79,1.316666667,BASELINE,765,745,714,679.169158614,660,635,878.830841386,787,806,653,630,652,0.400983995934,-0.00543419976537,0.049852342867,0.999999964986,6.58773212087e-05,-0.000253751769138,-3.60172138111e-05,1793244753796825344
+80,1.333333333,BASELINE,765,745,714,679,660,634.584203984,879,787,806,653,630.415796016,652,0.400984644017,-0.00543403788788,0.0498534533717,0.999999965387,6.50691266116e-05,-0.000252361378118,-3.61254516192e-05,1793244753813491968
+81,1.350000000,BASELINE,765,745,713.995132034,679,660,634,879,787,806,653,631,652,0.400985500403,-0.00543386633481,0.0498551706746,0.999999965987,6.367825111e-05,-0.000250300738105,-3.6330293843e-05,1793244753830158592
+82,1.366666667,BASELINE,765,745,713.416096157,679,660,634,879,787,806,653,631,652,0.400986404842,-0.00543438682195,0.0498552756471,0.999999966089,6.38294437136e-05,-0.000249881845126,-3.61534482788e-05,1793244753846825216
+83,1.383333333,BASELINE,765,745,713.161732245,679,660,634,879.161732245,787,806,652.838267755,631,652,0.400986689676,-0.00543454533657,0.0498551804121,0.999999966039,6.46297095765e-05,-0.00024989372361,-3.60253242286e-05,1793244753863491840
+84,1.400000000,BASELINE,765,745,713.736477264,679,660,634,879.736477264,787,806,652.263522736,631,652,0.400985392237,-0.00543377948845,0.0498545739108,0.999999965599,6.70875023745e-05,-0.000251005655472,-3.60216194092e-05,1793244753880158976
+85,1.416666667,BASELINE,765,745,714,679,660,634,879.363759357,787,806,652.318120321,631,652,0.400985732498,-0.00543366474439,0.0498545680968,0.999999965669,6.68531195028e-05,-0.000250780350357,-3.60944069655e-05,1793244753896826112
+86,1.433333333,BASELINE,765,745,714,679,660,634,878.188791696,787,806,652.905604152,631,652,0.400987459456,-0.00543410131276,0.0498550709055,0.999999966168,6.43391779762e-05,-0.000249422760251,-3.62319632695e-05,1793244753913492736
+87,1.450000000,BASELINE,765,745,714,679,660,634.486072534,878.486072534,787,806,653,631,652,0.400986689213,-0.00543398584044,0.049854721398,0.99999996603,6.37990952476e-05,-0.000250088720691,-3.64134786257e-05,1793244753930158848
+88,1.466666667,BASELINE,765,745,714,679,660,634.934693374,879,787,805.934693374,653,631,652,0.400985669054,-0.0054338346952,0.0498544028796,0.999999965835,6.36965896494e-05,-0.000250873529886,-3.65524952394e-05,1793244753946824960
+89,1.483333333,BASELINE,765,745,714,679,660,634.354602147,879,787,805.354602147,653,631,652,0.400986447258,-0.00543423539914,0.0498556148032,0.999999966154,6.40647154789e-05,-0.000249541583007,-3.62901768308e-05,1793244753963491584
+90,1.500000000,BASELINE,765,745,714,679,660,634,879,787,805.222759413,653,630.777240587,652,0.400986669131,-0.0054347436016,0.0498558860675,0.999999966157,6.43113583877e-05,-0.000249496976457,-3.60793870326e-05,1793244753980158720
+91,1.516666667,BASELINE,765,745,714,679,660,634,879,787,805.79582827,653,630.20417173,652,0.400986016123,-0.00543542085522,0.0498546780594,0.999999965662,6.43669583167e-05,-0.000251476829821,-3.59496306873e-05,1793244753996825856
+92,1.533333333,BASELINE,765,745,714,679,660,634,879,787,805.621373186,653,630.378626814,652,0.40098596288,-0.00543532940685,0.0498545459474,0.999999965681,6.49528333322e-05,-0.000251236766001,-3.60468802436e-05,1793244754013492224
+93,1.550000000,BASELINE,765,745,714,679,660,634,879,787,805.033189544,653,630.966810456,652,0.400986241587,-0.00543481250861,0.0498550093066,0.999999965983,6.58321972488e-05,-0.000249768055086,-3.62697696927e-05,1793244754030158336
+94,1.566666667,BASELINE,765,745,713.45195524,679.54804476,660.54804476,634,878.45195524,787,805,653,631,652,0.400986562324,-0.0054351539797,0.0498549066662,0.999999965838,6.50745488334e-05,-0.000250580677564,-3.60231806348e-05,1793244754046824960
+95,1.583333333,BASELINE,765,745,713.127510927,679.872489073,660.872489073,634,878.127510927,787,805.127510927,653,630.872489073,652,0.400986807875,-0.00543547170583,0.0498549276444,0.999999965799,6.42013208186e-05,-0.000250995932001,-3.57919904157e-05,1793244754063491328
+96,1.600000000,BASELINE,765,745,713.702233511,679.297766489,660.297766489,634,878.702233511,787,805.702233511,653,630.297766489,652,0.400986780915,-0.00543552611944,0.0498555008948,0.999999966226,6.32660718495e-05,-0.000249539036913,-3.57132753987e-05,1793244754080157952
+97,1.616666667,BASELINE,764.722659792,745,714,679,660,634,879,787,805.722659792,653,630,652,0.400986090185,-0.00543476892468,0.0498551913656,0.999999966081,6.46479639987e-05,-0.00024973973801,-3.58969590626e-05,1793244754096824576
+98,1.633333333,BASELINE,764.147140154,745,714,679,660,634,879,787,805.147140154,653,630,652,0.40098468581,-0.00543313913765,0.0498539327249,0.999999965309,6.85211062888e-05,-0.000251722586428,-3.63627579332e-05,1793244754113491456
+99,1.650000000,BASELINE,764.436481808,745,714,679,660,634,879,787,805.436481808,653,630,652,0.400985544839,-0.00543332478095,0.0498546331969,0.999999965599,6.76093386775e-05,-0.000250824324114,-3.63132180124e-05,1793244754130158336
+100,1.666666667,BASELINE,765,745,714,679,660,634,878.977331898,787,805.977331898,653,630,652,0.400987093064,-0.00543411149653,0.0498559300271,0.999999966218,6.51275328294e-05,-0.000249037205515,-3.60991379024e-05,1793244754146824960
+101,1.683333333,BASELINE,765,745,714,679,660,634,878.396529221,787,805.396529221,653,630,652,0.40098646863,-0.00543434438213,0.0498553418081,0.999999966085,6.44551179257e-05,-0.000249730757684,-3.61920653427e-05,1793244754163491584
+102,1.700000000,BASELINE,765.181862657,745,714,679,660,634,878.181862657,787,805,653,630,652,0.400986026322,-0.00543464924258,0.0498549345598,0.999999965987,6.39725648528e-05,-0.000250237146308,-3.62576005238e-05,1793244754180158208
+103,1.716666667,BASELINE,765.755066778,745,714,679,660,634,878.755066778,787,805,653,630,652,0.400985975921,-0.00543510898218,0.0498549167338,0.999999965966,6.3898566365e-05,-0.000250340786659,-3.62641916148e-05,1793244754196824832
+104,1.733333333,BASELINE,765.662333838,745,714,679,660,634,879,787,805,653,630.337666162,652,0.400985589245,-0.00543471038831,0.0498547498654,0.999999965778,6.55501273762e-05,-0.000250664749513,-3.6246487987e-05,1793244754213491456
+105,1.750000000,BASELINE,765.072724291,745,714,679,660,634,879,787,805,653,630.927275709,652,0.400984951663,-0.00543367136478,0.0498544717918,0.99999996546,6.84891828088e-05,-0.000251153101953,-3.62106573027e-05,1793244754230158080
+106,1.766666667,BASELINE,765,745,714,679,660,634,879,787,805.509304789,653,631,652.509304789,0.400984338322,-0.00543407037959,0.0498536773889,0.999999965304,6.65644343238e-05,-0.000252280984144,-3.62680897215e-05,1793244754246824704
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,630,652,0.400988834791,-0.00543274376699,0.0498566887179,0.999999966465,6.80621275568e-05,-0.000247260040925,-3.60650072889e-05,1793244754289737984
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,630.571470173,652,0.400988987534,-0.00543317313476,0.0498567575682,0.999999966504,6.80364315929e-05,-0.000247117883871,-3.59975701591e-05,1793244754306404608
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.852068499,634,879.147931501,787,805.852068499,653,630.852068499,652,0.400988674397,-0.00543387354334,0.0498565440115,0.999999966471,6.74602461586e-05,-0.000247414810352,-3.59451722999e-05,1793244754323071232
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.260643729,634,879.739356271,787,805.260643729,653,630.260643729,652,0.400986964562,-0.00543538652257,0.0498554838091,0.999999966219,6.52337132808e-05,-0.000249028093281,-3.59378616111e-05,1793244754339738112
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.324186208,660,634,879.351627585,787.324186208,805.324186208,653,630,652,0.400985680643,-0.00543511829592,0.0498546321461,0.999999965858,6.52342391151e-05,-0.000250444334303,-3.61278479672e-05,1793244754356404480
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.903819616,660,634,878.192360768,787.903819616,805.903819616,653,630,652,0.400984732331,-0.0054334465423,0.0498539448047,0.999999965413,6.69896081349e-05,-0.000251705313213,-3.64732973778e-05,1793244754373071104
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.517957754,680,660,634.482042246,878.482042246,787.517957754,805.517957754,653,630.482042246,652,0.400985277659,-0.00543371882719,0.0498549782745,0.999999965663,6.7385550264e-05,-0.000250647790543,-3.61805624105e-05,1793244754389737728
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.059529425,679.940470575,660.059529425,634.940470575,879,787,805,653,631,652.059529425,0.400986241591,-0.00543446518682,0.0498562829558,0.99999996607,6.72558939477e-05,-0.000249108867511,-3.58086476686e-05,1793244754406404352
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.633089625,679.366910375,660.633089625,634.366910375,879,787,805,653,631,652.633089625,0.400988254254,-0.00543596553493,0.0498569733964,0.999999966648,6.49230616206e-05,-0.000247395977732,-3.58493394642e-05,1793244754423070976
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.787409386,634,879,787,805.212590614,653,630.787409386,652.787409386,0.400992519065,-0.00543633859249,0.0498583100918,0.999999967414,6.38416188627e-05,-0.00024455994225,-3.58733906043e-05,1793244754439737856
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.197360485,634,879,787,805.802639515,653,630.197360485,652.197360485,0.401000782604,-0.00543471012615,0.0498607942236,0.99999996851,6.49820400254e-05,-0.000239729742463,-3.58678959704e-05,1793244754456404480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.614454066,679.385545934,660,634,879,787,806,653,630,652,0.40102937733,-0.00543523360987,0.0498710518196,0.999999973426,6.46690240297e-05,-0.000218464707293,-3.51941966872e-05,1793244754473071104
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.035137321,679.964862679,660,634,879,787,806,653,630,652,0.40106819027,-0.00543683863802,0.0498852162665,0.999999979542,6.36255278224e-05,-0.000188939718302,-3.41846656512e-05,1793244754489737984
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713.539155747,679.460844253,660,634,879,787,806,653,630.539155747,652,0.401131955998,-0.00543812654672,0.0499048505558,0.999999986431,6.37721039346e-05,-0.000148257296913,-3.30340942275e-05,1793244754506404864
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.115950814,660,634,879,787,805.884049186,653,631,652,0.401198810068,-0.00543952859814,0.0499233530053,0.999999991153,6.40115108394e-05,-0.000112186064312,-3.1808863095e-05,1793244754523071232
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.704260087,660,634,879,787,805.295739913,653,631,652,0.401271681776,-0.00544147905829,0.0499358057953,0.999999992686,6.43160521755e-05,-9.78346715129e-05,-3.03165838339e-05,1793244754539738112
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,631,652,0.401350468293,-0.0054447522036,0.049943644704,0.999999993743,6.30930347599e-05,-8.77368323159e-05,-2.88916197654e-05,1793244754556404480
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,631,652,0.401435233713,-0.00544936236763,0.0499468197309,0.999999994444,6.03259047303e-05,-8.19386425137e-05,-2.75347004643e-05,1793244754573071104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.55438872,660,634,879,787,805.44561128,653,630.55438872,652,0.4015323295,-0.00545260559596,0.0499456454763,0.999999994281,5.97051346809e-05,-8.45438109574e-05,-2.69545785582e-05,1793244754589737728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401633873816,-0.00545553133688,0.0499432952026,0.999999993875,5.95719879588e-05,-8.94154757058e-05,-2.65726838214e-05,1793244754606404608
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630,652,0.401765098461,-0.00546066445792,0.0499427781576,0.999999994026,5.5631863052e-05,-9.05661019494e-05,-2.54936448873e-05,1793244754623071232
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.17651982,660.17651982,634,879,787,805.82348018,653,630.17651982,652,0.401907338885,-0.00546640791649,0.0499432670383,0.999999994242,5.16244703551e-05,-9.09110556648e-05,-2.42012007625e-05,1793244754639737856
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.77009473,660.77009473,634,879,787,805.22990527,653,630.77009473,652,0.402075605753,-0.00547359339012,0.0499461325721,0.999999994631,4.74581477692e-05,-8.93524845675e-05,-2.24045543682e-05,1793244754656404480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.647576036,660.647576036,634,879,787,805.352423964,653,631,652,0.402257327429,-0.00547902949256,0.0499452387775,0.999999994403,4.56485733757e-05,-9.30727226976e-05,-2.11365295078e-05,1793244754673071104
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.072356057,660.072356057,634,879,787,805.927643943,653,631,652,0.402447555007,-0.00548335967507,0.049941968404,0.999999993756,4.53288918866e-05,-0.00010013012779,-2.02026893835e-05,1793244754689737984
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.50055421,879,787,806,653,630.49944579,652,0.402671072364,-0.00549316398103,0.049942930384,0.999999994058,3.90978016254e-05,-0.000100039778066,-1.8620885874e-05,1793244754706404608
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.924209954,745,713.924209954,679,659.924209954,634.924209954,879.075790046,787,806,653,630,652,0.402907023477,-0.00550347112879,0.0499452861881,0.999999994588,3.25457315207e-05,-9.73736863724e-05,-1.68422921715e-05,1793244754723071232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.330822009,745,713.330822009,679,659.330822009,634.330822009,879.669177991,787,806,653,630,652,0.403195176706,-0.00551183315148,0.0499530019478,0.999999995919,2.96104941068e-05,-8.41407483093e-05,-1.43564754591e-05,1793244754739738112
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.255132837,745,713.255132837,679,659.255132837,634,879.489734327,787,806,653,630.255132837,652,0.403500126521,-0.00552080631803,0.0499612395006,0.999999997304,2.59314863192e-05,-6.76388561108e-05,-1.20019134591e-05,1793244754756404992
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.831722256,745,713.831722256,679,659.831722256,634,878.336555488,787,806,653,630.831722256,652,0.403826239306,-0.00553054949947,0.04997013449,0.999999998619,2.13153594936e-05,-4.70182207583e-05,-9.81272699244e-06,1793244754773071616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.408393938,787,805.591606062,653,630.591606062,652,0.404181095734,-0.00554132317716,0.0499774279221,0.999999999324,1.74473393394e-05,-3.16416173067e-05,-6.86902988268e-06,1793244754789738240
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.985099509,787,805.014900491,653,630.014900491,652,0.404547798289,-0.00555252155362,0.0499840613031,0.999999999727,1.38876369392e-05,-1.84262403021e-05,-3.61437591376e-06,1793244754806404864
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.558623304,652.441376696,630.558623304,652,0.404951197949,-0.00555923045132,0.0499898806527,0.99999999984,1.75065618217e-05,-3.61153677382e-06,-6.66920619027e-07,1793244754823071488
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.136921382,714,679.136921382,660.136921382,634,879,787,805.863078618,652.136921382,631,652,0.40535851523,-0.0055621591889,0.0499897737476,0.999999999671,2.55035687662e-05,-1.2531154088e-06,2.2636278991e-06,1793244754839738112
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.731457873,714,679.731457873,660.731457873,634,879,787,805.268542127,652.731457873,631,652,0.40577567286,-0.00555285193209,0.0499699324239,0.999999998032,4.7496553295e-05,-4.0667530628e-05,5.16490140317e-06,1793244754856404992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.68275856,713.68275856,679.68275856,660.36551712,634,879.31724144,787,805,653,631,652,0.406216030017,-0.00554110679629,0.0499513335023,0.999999994539,7.1620317958e-05,-7.58309761493e-05,6.42053148525e-06,1793244754873071616
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.104185265,713.104185265,679.104185265,659.20837053,634,879.895814735,787,805,653,631,652,0.406675498139,-0.00552735342423,0.0499337580236,0.99999998945,9.74993434795e-05,-0.000107492633128,6.3205412281e-06,1793244754889737984
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,713.470036716,679.470036716,659.470036716,634,879.529963284,787,805.470036716,653,630.529963284,652,0.407174683324,-0.00552917712366,0.0499231868992,0.999999986077,0.000106549031365,-0.000128114051802,8.94190603626e-06,1793244754906404864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.955483769,659.955483769,634,879,787,805.955483769,653,630,652,0.407689473648,-0.00553445659459,0.0499167158593,0.999999983718,0.000112172881362,-0.000140818932868,1.22904884788e-05,1793244754923071488
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.366156426,659.366156426,634,879,787,805.366156426,653,630,652,0.408288495301,-0.00554016110743,0.0499415971831,0.999999988794,0.000121103905461,-8.63115923045e-05,1.72246017463e-05,1793244754939737856
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.219399437,659.438798874,634,879.219399437,787,805.219399437,653,630.219399437,651.780600563,0.408910500466,-0.00554348974604,0.0499673116623,0.999999990317,0.000132187034511,-3.73069819361e-05,2.23881052607e-05,1793244754956404992
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.798767399,660.597534798,634,879.798767399,787,805.798767399,653,630.798767399,651.201232601,0.409570214629,-0.00554292028887,0.0499943930974,0.999999988831,0.000146801120666,2.66929875632e-06,2.79279689656e-05,1793244754973071872
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.62380261,660.62380261,634,879.62380261,787,806,653,630.62380261,651.37619739,0.410206590748,-0.00554315752377,0.0499991635558,0.999999987224,0.000156634814433,3.33775737965e-06,3.17197072857e-05,1793244754989738496
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.047403969,660.047403969,634,879.047403969,787,806,653,630.047403969,651.952596031,0.410830547021,-0.00554382405661,0.0499920607639,0.999999985823,0.000163924522729,-1.69122587671e-05,3.45811442238e-05,1793244755006405120
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.471852056,679,659.471852056,634,879,787,806,653,630,652,0.411461199745,-0.00553999256183,0.0499582437243,0.999999980334,0.000174334227271,-8.77344365608e-05,3.52535047971e-05,1793244755023071488
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.106186144,679,659.106186144,634,879.106186144,787,806,653,630,652,0.412114430961,-0.00553759155539,0.0499319037542,0.999999974814,0.000172272260525,-0.000139947368868,3.32997253317e-05,1793244755039737856
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.695890987,679,659.695890987,634,879.695890987,787,806,653,630,652,0.412867740721,-0.00554353968106,0.0499505112712,0.99999998974,0.000112147426579,-8.67873104241e-05,2.02810586607e-05,1793244755056404992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.280584246,745,714,679,660.280584246,634,879.719415754,787,806,652.719415754,630,652,0.413643666556,-0.00554828065583,0.0499676820452,0.99999999489,8.67875256947e-05,-4.92341657926e-05,1.62263205341e-05,1793244755073071616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.859941126,745,714,679,660.859941126,634,879.140058874,787,806,652.140058874,630,652,0.414443674608,-0.00555173622895,0.0499833229441,0.999999994518,9.84461274566e-05,-2.82996199133e-05,2.17165805597e-05,1793244755089738496
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563174212,745,714,678.563174212,660.126348424,634,879,787,805.563174212,652,630.436825788,652,0.415202952863,-0.0055505199174,0.0499630507433,0.999999991892,0.000108137632647,-6.2978762837e-05,2.35605282825e-05,1793244755106404864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.012811334,714,678.025622667,659.012811334,634,879,787,805.012811334,652,631,651.987188666,0.41595080783,-0.00554779341993,0.0499321194369,0.999999986357,0.000117068407344,-0.000113999159662,2.42095022707e-05,1793244755123071232
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.58396462,714,679.167929241,659.58396462,634,879,787,805.58396462,652,631,651.41603538,0.416766755363,-0.00554416583279,0.0499356553289,0.999999987049,0.000120177884564,-0.000104452189529,2.34446491084e-05,1793244755139738112
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.838472229,714,680,660,634,879,787,805.838472229,652,630.838472229,651,0.417596029154,-0.00554011458881,0.0499456529194,0.999999988642,0.000123435288811,-8.34528265391e-05,2.27182293286e-05,1793244755156404736
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.24371748,714,680,660,634,879,787,805.24371748,652,630.24371748,651,0.418461044703,-0.00553492707246,0.0499729811651,0.999999991176,0.000127089441674,-3.17374731797e-05,2.20948901521e-05,1793244755173071616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.659016192,659.659016192,634,879.340983808,787,805,652,630,651,0.419312929203,-0.00553111547917,0.0499743511734,0.999999990727,0.000129450779587,-3.61587990288e-05,2.19213191901e-05,1793244755189738240
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.081294823,659.081294823,634,879.918705177,787,805,652,630,651,0.420155697067,-0.0055282591592,0.0499576989472,0.999999988023,0.000130914544334,-7.95545889318e-05,2.20600124311e-05,1793244755206405120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.494257456,659,634,880,787,805,652,630.494257456,651.494257456,0.421067149608,-0.00552928285161,0.0499681051805,0.999999990397,0.00013040021073,-4.13764185647e-05,2.21141822749e-05,1793244755223071744
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071064336,745,714,680,659.213193008,634,879.928935664,787,805.071064336,652,631,652,0.421984713517,-0.00553090946222,0.0499820509257,0.999999991381,0.000129292228715,5.21337560831e-06,2.2221221116e-05,1793244755239738368
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.659592965,745,714,680,660.978778894,634,879.340407035,787,805.659592965,652,631,652,0.422864875326,-0.00553229961758,0.0499895044915,0.999999991649,0.000126220284129,1.57814231804e-05,2.2814021913e-05,1793244755256404992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.755757546,745,714,680,661.511515092,634,879.488484908,787,806,652,631,652,0.423751241921,-0.00553406551202,0.0499868553918,0.999999991977,0.000124134097109,9.26134622129e-06,2.34524713995e-05,1793244755273071616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.176429907,745,714,680,660.352859814,634,880.647140186,787,806,652,631,652,0.424646121216,-0.00553634689687,0.0499703460758,0.99999999188,0.000123400306565,-2.07025543738e-05,2.41535480711e-05,1793244755289738240
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.599955643,786.599955643,806,652,631,652,0.425581932976,-0.00553829997054,0.0499783234547,0.999999992366,0.000120368465983,-1.11501470097e-05,2.56057271389e-05,1793244755306404864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.024730914,786.024730914,806,652,631,652,0.426535669107,-0.00554010927581,0.0499970236164,0.999999992735,0.000116330303839,1.57065471327e-05,2.73868156758e-05,1793244755323071488
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.550276734,806,652,631,651.449723266,0.427405332257,-0.00553913507804,0.0499871537321,0.999999992171,0.000118793400446,-2.69240331066e-05,2.86665532302e-05,1793244755339738112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.12886459,714,680,660,634,880,787,806.12886459,652,631,651.12886459,0.428273703237,-0.00553777476329,0.0499729919107,0.999999989964,0.000121006929031,-6.76729076956e-05,2.91619503865e-05,1793244755356404992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.720340011,714,680,660,634,880,787,806.720340011,652,631,651.720340011,0.429150994376,-0.00553547724017,0.0499480301345,0.999999988192,0.000121276036833,-9.04600130368e-05,2.69225009401e-05,1793244755373071872
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.694912061,714,680,660.305087939,634,879.694912061,787,807,652,631,652,0.430064234972,-0.0055366971471,0.0499445635998,0.999999989122,0.000118724828399,-8.34328541595e-05,2.64528622094e-05,1793244755389738496
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.116197897,714,680,660.883802103,634,879.116197897,787,807,652,631,652,0.431009717746,-0.00554107175478,0.0499603756449,0.999999991929,0.000113644144326,-4.96659788975e-05,2.75705253542e-05,1793244755406405120
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.53979708,745,714,679.53979708,660.53979708,634,879.920405841,787,806.53979708,652,631,652,0.431905354814,-0.00554203394115,0.0499474194387,0.999999990463,0.000112447581183,-7.52186746705e-05,2.77746058579e-05,1793244755423071744
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036754761,745,714,679.036754761,660,634,880.963245239,787,806,652,631,652,0.432788425552,-0.00554226191484,0.0499294584249,0.999999987156,0.00011211701281,-0.000111110135137,2.77909771642e-05,1793244755439738112
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.624278016,745,714,679.624278016,660,634,880.375721984,787,806,652,631,652,0.433670841938,-0.00554433437815,0.0499448035394,0.999999990441,0.000110140912924,-7.86089696019e-05,2.84338706418e-05,1793244755456404736
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.208750122,634,880,787,805.791249878,652,631,652,0.434548629689,-0.00554466424364,0.0499613313055,0.999999992146,0.000111257396448,-4.95190054648e-05,2.96329439388e-05,1793244755473071360
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.787809778,634,880,787,805.212190222,652,631,652,0.435418206678,-0.00554190285098,0.0499799570231,0.999999992198,0.000117859927459,-2.64802918947e-05,3.18186452554e-05,1793244755489738240
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.633002459,660.266004918,633.633002459,880,787,805.733995082,652,631,651.633002459,0.43624169782,-0.00553950014396,0.0499697821041,0.999999990363,0.000121529176744,-5.85853339986e-05,3.27388750086e-05,1793244755506405120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.053740636,659.107481271,633.053740636,880,787,806.892518729,652,631,651.053740636,0.437038533746,-0.00553730489396,0.0499429494525,0.999999984318,0.000123501871813,-0.000122584459479,3.2927180242e-05,1793244755523071744
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.519123281,659.519123281,633.519123281,880.519123281,787,807,652,631,651.519123281,0.437911877887,-0.00554234210073,0.0499608644202,0.999999989974,0.000117633156963,-7.15896321738e-05,3.30015098031e-05,1793244755539738368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.188424356,634,880.905787822,787,806.905787822,652,631,652,0.43877444282,-0.00554696433811,0.0499800037996,0.999999993086,0.000111174806225,-1.97771377181e-05,3.28331580846e-05,1793244755556404992
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.368921085,634,880.315539458,787,806.315539458,652,631,652,0.439539060823,-0.0055455076428,0.049981496938,0.999999993578,0.000105833917536,-2.55742661538e-05,3.14484330819e-05,1793244755573071616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.730164733,714,680,661.460329467,634,880.269835267,787,806.269835267,652,631,652,0.440281934634,-0.00554457289422,0.0499694982311,0.999999993123,0.000102428163528,-4.85804030191e-05,3.00548712737e-05,1793244755589738240
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.150388069,714,680,660.300776138,634,880.849611931,787,806.849611931,652,631,652,0.44099983232,-0.00554423767042,0.0499420023601,0.999999990292,0.000101245167202,-9.13533556619e-05,2.86511592854e-05,1793244755606404864
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.425093119,714,680,660,633.574906881,880.574906881,787,806.574906881,652,631,652,0.441717599715,-0.00554671104125,0.0499357978158,0.9999999897,9.99363410585e-05,-9.87285066444e-05,2.94220354469e-05,1793244755623071488
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.999069917,714,680,660,633.000930083,880.000930083,787,806.000930083,652,631,652,0.442435321535,-0.00555016808806,0.0499370502968,0.999999990271,9.85834444982e-05,-9.3706013058e-05,3.09545344684e-05,1793244755639738368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880.586967172,787,806.586967172,652,631,652,0.443097767092,-0.00554893382594,0.0499314220156,0.999999988638,0.000104405205288,-0.000104163079309,3.11899716981e-05,1793244755656404992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.172423909,714,680,660,633,880.827576091,786.827576091,807,652,631,652,0.443729258804,-0.00554800930164,0.0499107990913,0.999999983703,0.000108353289756,-0.000141028750328,3.10655424758e-05,1793244755673071872
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.752063601,714,680,660,633,880.247936399,786.247936399,807,652,631,652,0.444287858436,-0.00554783427154,0.0498547894979,0.999999964882,0.000107848787303,-0.000240204631642,3.00961837067e-05,1793244755689738240
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.66965214,714,680,659.66965214,633,880,786,807,652,631,652,0.444855722916,-0.00554949710927,0.0498145412281,0.999999949643,0.000107365210318,-0.000297212682268,2.9162909068e-05,1793244755706404608
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.092381054,714,680,659.092381054,633,880,786,807,652,631,652,0.445430512507,-0.00555253368757,0.0497860739882,0.999999941819,0.000106897274913,-0.000322701780972,2.82566062274e-05,1793244755723071488
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.515735737,680,659,632.515735737,880,786,806.515735737,652,630.515735737,651.515735737,0.446009930867,-0.00555238432664,0.0497910135327,0.999999947126,0.000107542907265,-0.000305506721717,2.9133301328e-05,1793244755739738112
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.060378453,680,658.939621547,632,880.060378453,786,806.060378453,652,630,651.060378453,0.44658106127,-0.00555131213502,0.0497994048364,0.999999952785,0.000109087472954,-0.000285685595028,3.02226658879e-05,1793244755756404736
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.632998129,680,658.367001871,632,880.632998129,786,806.632998129,652,630,651.632998129,0.447074396326,-0.00554756034899,0.0497830836604,0.999999943909,0.000116458545087,-0.000312577357937,3.0234357146e-05,1793244755773071616
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,632,880.786294326,786,807,652,630,652,0.447541200568,-0.00554559566275,0.0497591249441,0.999999931357,0.000119886480885,-0.000349352132419,2.94301139094e-05,1793244755789738752
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,632,880.191151017,786,807,652,630,652,0.447960650606,-0.00554682072429,0.0497215341847,0.999999911357,0.00011627641547,-0.000403766831059,2.71695306317e-05,1793244755806405632
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,631.608719295,880.391280705,785.608719295,807,652,630,652,0.448374664934,-0.00554890491689,0.0497024207006,0.999999903005,8.44349618348e-05,-0.000431922009079,1.74399602373e-05,1793244755823072000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,631.032302075,880.967697925,785.032302075,807,652,630,652,0.448786107366,-0.00555139561196,0.0496920498327,0.999999899025,3.92356786027e-05,-0.000447652361688,4.1763992554e-06,1793244755839738112
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.45820852,745,714,680.54179148,658.54179148,631,880.45820852,785,806.45820852,652,630,651.45820852,0.449187806765,-0.00555752228114,0.0497081668865,0.999999909501,3.70992596283e-05,-0.000423760043597,6.98836627799e-06,1793244755856404736
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.119317491,745,714,681,658.880682509,631,880.119317491,785.119317491,806.119317491,652,630,651.119317491,0.449580171172,-0.00556177230262,0.0497237989745,0.999999918693,3.94519748958e-05,-0.000401183798138,1.04378471418e-05,1793244755873071360
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.710977849,745,714,681,658.289022151,631,880.710977849,785.710977849,806.710977849,652,630,651.710977849,0.449937870956,-0.00555773872647,0.0497312862113,0.999999921422,4.94554976365e-05,-0.000393129353614,1.26330925795e-05,1793244755889737984
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.296239778,714.296239778,681,658,630.703760222,880.703760222,786,807,652,630,652,0.450266339424,-0.00555548024207,0.0497341454128,0.999999921569,5.6348555321e-05,-0.000391766721655,1.43315597565e-05,1793244755906404864
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.875391114,714.875391114,681,658,630.124608886,880.124608886,786,807,652,630,652,0.45056689171,-0.00555491698593,0.0497325848003,0.99999991934,6.02710912828e-05,-0.000396794829292,1.55555992522e-05,1793244755923071744
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.549664957,681,658,630,880.450335043,786,807,652,630,652,0.450822879244,-0.00555846761181,0.0497253288275,0.999999912766,5.96551445471e-05,-0.000413071990669,1.6780425211e-05,1793244755939738368
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.975263579,714.024736421,681,658,630,880.975263579,786,806.975263579,652.024736421,630,652,0.451065386352,-0.0055629073517,0.0497165108145,0.99999990467,5.79641421009e-05,-0.000432408202235,1.79819223805e-05,1793244755956404736
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.386944144,714.613055856,681,658,630,880.386944144,786,806.386944144,652.613055856,630,652,0.451279109168,-0.00556190931997,0.0497076767041,0.999999896237,6.01265206761e-05,-0.00045117983063,1.86469956875e-05,1793244755973071360
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.80134753,681,658,630,880.19865247,785.80134753,806.19865247,652.80134753,630,652,0.45148108999,-0.00556057523198,0.0496993294487,0.999999887748,6.24787618321e-05,-0.000469292677838,1.90832348966e-05,1793244755989737984
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.220982904,681,658,630,880.779017096,785.220982904,806.779017096,652.220982904,630,652,0.451660508461,-0.00555859540954,0.0496919176895,0.999999879527,6.51958250821e-05,-0.000486139670241,1.90797676636e-05,1793244756006404608
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.357739299,745,714.357739299,681,658,630,881,785.357739299,807,652,630,652,0.451823903884,-0.00555514566171,0.0496858698435,0.999999873534,6.95050114799e-05,-0.000497727880312,1.9172961021e-05,1793244756023071232
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.935451636,745,714.935451636,681,658,630,881,785.935451636,807,652,630,652,0.451977446791,-0.0055507920601,0.0496806606637,0.999999868957,7.47931908533e-05,-0.000506082479379,1.93255907443e-05,1793244756039737856
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.49079651,745,714.49079651,681,657.49079651,629.49079651,881,786,807,652,630,652,0.452110353834,-0.00555049158374,0.0496774109547,0.999999867602,7.54911407921e-05,-0.000508662757975,1.89686637937e-05,1793244756056404480
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.915026482,745,714.084973518,681,657.084973518,629.084973518,881,785.915026482,807,652,630,652,0.452238139615,-0.00555109391613,0.0496754748345,0.999999867414,7.5237900558e-05,-0.000509078934954,1.87234100132e-05,1793244756073071360
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.324278586,745,714.675721414,681,657.675721414,629.675721414,881,785.324278586,807,652,630,652,0.452350892855,-0.00555403535746,0.0496798903417,0.999999871693,7.27597032136e-05,-0.000500937253031,1.95243507574e-05,1793244756089737984
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.261327963,745,714.738672037,681,658,629.738672037,880.738672037,785.261327963,807,652,630,652,0.452447942507,-0.00555699426545,0.0496811387908,0.999999873239,7.01438182887e-05,-0.00049819795372,2.00203356463e-05,1793244756106404608
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840677739,745,714.159322261,681,658,629.159322261,880.159322261,785.840677739,807,652,630,652,0.452525881748,-0.00555997442923,0.0496785331034,0.99999987151,6.73603752745e-05,-0.000502033058579,2.014520592e-05,1793244756123071232
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.416949952,714.416949952,681,658,629,880.416949952,785.583050048,807,652,629.583050048,652,0.45258913631,-0.00555906549213,0.0496765002149,0.999999869296,6.87899950404e-05,-0.000506228957652,2.02180019435e-05,1793244756139737600
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.992054789,714.992054789,681,658,629,880.992054789,785.007945211,807,652,629.007945211,652,0.452646820768,-0.0055566813652,0.0496746845969,0.999999866879,7.18176878685e-05,-0.000510561710867,2.02710454802e-05,1793244756156404480
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.435899143,714.435899143,681,658,629,880.435899143,785,807,652,629,652,0.452686510549,-0.00555599375869,0.049672085953,0.999999865817,7.05192821379e-05,-0.000512838974442,1.97150448451e-05,1793244756173071104
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.858208332,880,785,807,652,629,651.858208332,0.452724122389,-0.0055560420383,0.0496702545139,0.999999865251,6.87382332595e-05,-0.000514198481899,1.92915393728e-05,1793244756189737728
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,628.262302044,880,785,807,652,629,651.262302044,0.452755886566,-0.00555837101675,0.0496709153249,0.999999866225,6.56055223709e-05,-0.000512710922536,1.93197000404e-05,1793244756206404608
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657.676951023,628.323048977,880,785,807,652,629,651.323048977,0.452778816841,-0.00555867993739,0.0496697909408,0.999999865581,6.52136262711e-05,-0.000514017616994,1.92741354483e-05,1793244756223070976
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657.099899198,628.900100802,880,785,807,652,629,651.900100802,0.452794801312,-0.00555740055287,0.049667262916,0.999999863659,6.69767428756e-05,-0.000517521341693,1.9170603098e-05,1793244756239737856
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657,629,880,784.525493836,807,652,629,652,0.452803933414,-0.00555544947408,0.0496647949925,0.999999861142,6.79037127376e-05,-0.000522250324382,1.89525935674e-05,1793244756256404992
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.048280635,681,657,629,880,784.048280635,807,652,629,652,0.452811624707,-0.00555360118617,0.0496626439389,0.999999858823,6.85976794812e-05,-0.000526589279631,1.87512187227e-05,1793244756273072384
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.621220791,681,657,629,880,784.621220791,807,652,629,652,0.452819249048,-0.00555439811465,0.0496637995293,0.999999860226,6.86619874212e-05,-0.000523902219109,1.89910630273e-05,1793244756289739264
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,629,880.2013483,785,806.7986517,652,629,652,0.452824154618,-0.00555483550158,0.0496636488984,0.999999860449,6.86140137648e-05,-0.000523475639085,1.91514373363e-05,1793244756306405632
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,629,880.795497233,785,806.204502767,652,629,652,0.452823756269,-0.00555457147632,0.0496609500234,0.999999858374,6.83469953838e-05,-0.000527458920993,1.91567774706e-05,1793244756323071744
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.620543872,681,657,628.620543872,880.620543872,785,806.379456128,652,629,652,0.452824035963,-0.00555296062824,0.0496600208988,0.99999985707,6.94789121574e-05,-0.000529788232298,1.88756158833e-05,1793244756339738368
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.041933156,681,657,628.041933156,880.041933156,785,806.958066844,652,629,652,0.452824671522,-0.00555064291073,0.0496600206138,0.999999856172,7.13450491366e-05,-0.000531249469918,1.84440861032e-05,1793244756356404736
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.531120683,745,714,681,657,628,880.531120683,785,807,652,629,652,0.452825259002,-0.00555088069738,0.0496586788664,0.999999855414,7.14636725863e-05,-0.000532650510806,1.86538195421e-05,1793244756373072128
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.892980242,745,714,681,657,628,881,785,807,652,629,652,0.452825886761,-0.00555147845734,0.0496574602357,0.999999854842,7.12374545322e-05,-0.000533747973319,1.88493331571e-05,1793244756389738752
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.30225921,745,714,681,657,628,881,785,807,652,629,652,0.452826713547,-0.00555280072976,0.0496572717955,0.999999855061,7.00697750086e-05,-0.000533494599066,1.87541156644e-05,1793244756406405120
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657,628.282994627,880.717005373,785.282994627,807,652,629,652,0.452827556029,-0.00555214215605,0.0496573669008,0.999999855115,7.07077193289e-05,-0.000533319082193,1.8456393379e-05,1793244756423071488
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,657,628.862519839,880.137480161,785.862519839,807,652,629,652,0.452828414956,-0.00554940799022,0.049657759114,0.999999854993,7.32376524148e-05,-0.000533225146675,1.79464802518e-05,1793244756439738112
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,657,629,880,785.560390829,807,652,629,652,0.452827557852,-0.0055495965947,0.0496569378978,0.999999854376,7.29471558745e-05,-0.000534420962605,1.78965041292e-05,1793244756456404736
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.016213919,714,681,657,628.983786081,880,785,806.983786081,652,629,652,0.452826211663,-0.00555061490316,0.0496557638066,0.999999853617,7.18561639334e-05,-0.000535985308688,1.79807354345e-05,1793244756473071360
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.602416962,714,681,657,628.397583038,880,785,806.397583038,652,629,652,0.45282643394,-0.00554884530056,0.0496554514433,0.99999985328,7.34609668195e-05,-0.000536403815686,1.77542978307e-05,1793244756489737984
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.814405463,714,681,657,628.185594537,880,785,806.185594537,652,629,652,0.452826662633,-0.00554791236935,0.0496552259938,0.999999853127,7.402910089e-05,-0.00053661244977,1.76754938986e-05,1793244756506404864
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.237605164,714,681,657,628.762394836,880,785,806.762394836,652,629,652,0.452826904851,-0.00554874301748,0.0496551837456,0.999999853367,7.24120907183e-05,-0.000536378702851,1.7907879869e-05,1793244756523071744
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.66193056,657,628.66193056,880,785,807,652,629,652,0.452826792271,-0.00554896887818,0.049654839967,0.999999853253,7.16367679553e-05,-0.000536690242152,1.80362942538e-05,1793244756539738368
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.087044527,657,628.087044527,880,785,807,652,629,652,0.452826431154,-0.00554877108712,0.0496542849672,0.999999852893,7.14510446768e-05,-0.000537383752765,1.80918768557e-05,1793244756556404736
+244,4.066666667,HOLD_POSE2,765,745,715,681,658,628,880,785,807,652,629,652,0.452829036249,-0.00554849600956,0.0496560322624,0.999999854216,7.34519196449e-05,-0.000534642665407,1.81885476047e-05,1793244756587656704
+245,4.083333333,HOLD_POSE2,765,745,714.411110958,681,658,628.588889042,880,785,807,652,629,652,0.452830307372,-0.00554819463903,0.0496566922287,0.999999854432,7.36832649136e-05,-0.000534207302608,1.81317910648e-05,1793244756604324096
+246,4.100000000,HOLD_POSE2,765,745,714,680.825337544,657.825337544,629,880,785,806.825337544,652,629,652,0.452831087404,-0.00554816031193,0.0496568786499,0.999999854485,7.34441500185e-05,-0.000534142071859,1.81372188471e-05,1793244756620990976
+247,4.116666667,HOLD_POSE2,765,745,714,680.246768888,657.246768888,629,880,785,806.246768888,652,629,652,0.452830731788,-0.00554874352155,0.0496559700006,0.999999854156,7.21170980096e-05,-0.000534932769837,1.8286447603e-05,1793244756637657344
+248,4.133333333,HOLD_POSE2,765,745,714,680,657,628.669258587,880,785,806,652,629,652,0.452830457011,-0.00554912451434,0.0496558750422,0.999999854072,7.13384062281e-05,-0.000535194427717,1.82433288357e-05,1793244756654323968
+249,4.150000000,HOLD_POSE2,765,745,714,680,657,628.09253545,880,785,806,652,629,652,0.452830242356,-0.00554935511273,0.0496563852489,0.999999854173,7.09675455067e-05,-0.000535062623496,1.80571557767e-05,1793244756670990592
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+251,4.183333333,HOLD_POSE2,764.059273194,745,714,681,657.059273194,628,880,785,807,652,629,652,0.452831163084,-0.00554734335559,0.0496569142207,0.999999854176,7.76944173109e-05,-0.000534119297826,1.81102521448e-05,1793244756704323840
+252,4.200000000,HOLD_POSE2,764.650155764,745,714,681,657.650155764,628,880,785,807,652,629,652,0.45283127259,-0.00554854066663,0.0496572659514,0.999999854428,7.5670208032e-05,-0.000533933950833,1.8223976415e-05,1793244756720990208
+253,4.216666667,HOLD_POSE2,765,745,714,681,658,628.236281641,880,785,807,652,629,652,0.452831386221,-0.00554908578725,0.049657440398,0.999999854398,7.40836938507e-05,-0.00053421048902,1.82961090095e-05,1793244756737656576
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+256,4.266666667,HOLD_POSE2,765,745.968701681,714,681,658,628.031298319,880.968701681,785,807,652,629,652,0.452829033399,-0.00554983916981,0.0496545264906,0.999999852882,6.98848686007e-05,-0.000537606481768,1.8200826801e-05,1793244756787656960
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+258,4.300000000,HOLD_POSE2,764.139252877,745,714,681,657,629,880.139252877,785,807,652,629,652,0.4528317583,-0.00554759750675,0.0496564618395,0.999999854007,7.39214195985e-05,-0.000534981457523,1.78021897145e-05,1793244756820990720
+259,4.316666667,HOLD_POSE2,764.718692702,745,714,681,657,629,880.718692702,785,807,652,629,652,0.452832606143,-0.00554849375766,0.0496568478565,0.999999854867,7.13326730344e-05,-0.000533739073848,1.73490588076e-05,1793244756837657344
+260,4.333333333,HOLD_POSE2,765,745.296895725,714.296895725,681,657,628.703104275,881,785,806.703104275,652.296895725,629.296895725,652,0.452832233809,-0.00554789984563,0.049656467057,0.999999854699,7.19037959871e-05,-0.000533979103068,1.7278680917e-05,1793244756854323712
+261,4.350000000,HOLD_POSE2,765,745.873931712,714.873931712,681,657,628.126068288,881,785,806.126068288,652.873931712,629.873931712,652,0.452830710159,-0.00554589986873,0.0496553627167,0.999999853556,7.54564597404e-05,-0.000535617884516,1.75694552054e-05,1793244756870990592
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,784,808,652,629,651,0.452831630161,-0.00554682700477,0.0496545631865,0.999999853332,7.37843428275e-05,-0.000536263139107,1.76916653857e-05,1793244756903724800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,628.408095247,880,784.591904753,806.816190494,652,629.591904753,651.591904753,0.452832316477,-0.00554736057104,0.0496552319413,0.99999985347,7.43513940589e-05,-0.000535913569569,1.81331488005e-05,1793244756920391680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.179545458,681,657,628,880,785,806.179545458,652,629.820454542,652,0.452832408305,-0.00554749335051,0.0496557432549,0.999999853434,7.4293675201e-05,-0.000535983118791,1.82893765126e-05,1793244756937058304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.7577192,681,657,628,880,785,806.7577192,652,629.2422808,652,0.452831180246,-0.00554673629998,0.0496559050164,0.999999853012,7.28488368192e-05,-0.000536983198829,1.7812277279e-05,1793244756953724416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.334567135,715,681,657,628.334567135,880.66913427,785,807,652,629,652,0.452830269583,-0.00554693723234,0.0496552080066,0.999999852627,7.31513990029e-05,-0.00053765685335,1.7908914821e-05,1793244756970391040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.910458725,715,681,657,628.910458725,881.82091745,785,807,652,629,652,0.452829587859,-0.00554782916117,0.0496538915621,0.999999852266,7.47143674658e-05,-0.000538095055935,1.84193907521e-05,1793244756987057664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.503349263,714.503349263,681,657,629,881.006698527,785,807,652,629,652,0.452830037683,-0.00554715690801,0.0496546837561,0.999999852891,7.47983490295e-05,-0.000536929616783,1.81855130156e-05,1793244757003724288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.916553739,745,714,681,657,629,880,785,807,652,629,652,0.452829913166,-0.00554632793402,0.0496552420098,0.99999985318,7.4640823638e-05,-0.000536425695273,1.7763518514e-05,1793244757020390656
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.337437921,745,714,681,657,629,880,785,807,652,629,652,0.452825139601,-0.00554627863374,0.04965210465,0.999999850399,7.4666174058e-05,-0.000541604925157,1.70381401295e-05,1793244757037057536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.240161542,745,714,681,657.240161542,628.759838458,880,785,807,652,629,652,0.452814611301,-0.00554587413984,0.0496469197856,0.99999984577,7.54991645872e-05,-0.000549988935309,1.65082903009e-05,1793244757053724160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.815643775,745,714,681,657.815643775,628.184356225,880,785,807,652,629,652,0.452796048068,-0.00554497371405,0.0496388761346,0.999999838469,7.74598062655e-05,-0.000562847554569,1.62514433207e-05,1793244757070390528
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.609678491,745,714,681,657.609678491,628,880,785,807,652,629,651.609678491,0.452757908461,-0.00554295846836,0.0496233050745,0.999999822973,7.75479630582e-05,-0.000589742959283,1.56358951656e-05,1793244757087056896
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.035379905,745,714,681,657.035379905,628,880,785,807,652,629,651.035379905,0.452710541575,-0.00554041775501,0.049604185988,0.999999802721,7.67535288414e-05,-0.000623254568664,1.48512740637e-05,1793244757103723776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.555711875,745,714,681,657,628,880,785,807,652,629,651.555711875,0.452646599446,-0.00553884004873,0.0495853648559,0.999999786038,7.93612567459e-05,-0.000649186994885,1.34811116356e-05,1793244757120390656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.144662603,628,880,785,807,652,629.144662603,652,0.452578186305,-0.00553741302149,0.049568797252,0.999999770846,8.10062503184e-05,-0.000672009230259,1.22156557196e-05,1793244757137057280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.72387041,628,880,785,807,652,629.72387041,652,0.452499611569,-0.00553624870432,0.0495589401541,0.999999760835,7.9088417806e-05,-0.000686983549143,1.13801925931e-05,1793244757153723904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.698236134,658,628,880,785,807,652,630,652,0.452414414285,-0.00553384702932,0.0495539211191,0.999999755641,7.95887352378e-05,-0.000694458367599,1.05744494015e-05,1793244757170390272
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.121540196,658,628,880,785,807,652,630,652,0.452323183313,-0.00553031801812,0.0495533099637,0.999999754984,8.22921892489e-05,-0.000695100514353,9.79578360319e-06,1793244757187056896
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.461982812,714,680.461982812,657.538017188,628,880,785,807,652,629.538017188,652,0.452214617163,-0.00552424815047,0.0495553534518,0.999999755333,8.72647459544e-05,-0.000693999742096,9.15681332898e-06,1793244757203723520
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.953138249,714.046861751,681,657.046861751,628,880.046861751,785,807,652,629,652,0.452098712693,-0.00551770520629,0.0495578875159,0.999999755642,9.26898576663e-05,-0.000692857255302,8.55321072929e-06,1793244757220390400
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.373569078,714.626430922,681,657.626430922,628,880.626430922,785,807,652,629,652,0.451952009778,-0.00551349726657,0.0495579401019,0.999999752747,9.63715918505e-05,-0.000696531202252,7.92760930862e-06,1793244757237057280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.794859129,681,657.794859129,628.205140871,880.794859129,785.205140871,806.794859129,652,629,652,0.45179402777,-0.00550822940334,0.0495574998588,0.999999749775,0.000100251158015,-0.000700247410237,7.28046708197e-06,1793244757253723904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.217707391,681,657.217707391,628.782292609,880.217707391,785.782292609,806.217707391,652,629,652,0.451615591809,-0.00550103943178,0.049556165899,0.999999746683,0.000104489480406,-0.000704040255732,6.59426194258e-06,1793244757270390784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.356350966,629,880,785.643649034,806.356350966,652,629,651.643649034,0.451421598832,-0.00549446590212,0.0495553332989,0.999999745532,0.000109244389303,-0.000704957947072,5.96207649672e-06,1793244757287057408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.928535788,629,880,785.071464212,806.928535788,652,629,651.071464212,0.451218183299,-0.00548826573692,0.0495548043611,0.999999745549,0.000114312183565,-0.000704134221842,5.36260951168e-06,1793244757303723776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629,880,785,806.481350515,652,629,651,0.450988165236,-0.00547837051329,0.049561115428,0.999999753668,0.000122406140771,-0.000691133811655,3.84475125309e-06,1793244757320390400
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.108830613,680.891169387,658,629,880,785,806,652,629,651.108830613,0.450748642908,-0.00546830162569,0.0495692915285,0.999999764084,0.000130033616384,-0.000674476512285,2.29115732294e-06,1793244757337057024
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.688239135,680.311760865,658,629,880,785,806,652,629,651.688239135,0.450484441671,-0.00545976213606,0.0495813107975,0.999999780112,0.0001337765299,-0.00064952155483,1.14980650016e-06,1793244757353723648
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.734777155,680.265222845,658,629.265222845,880,785.265222845,806.265222845,652,629,652,0.450198212571,-0.00545119051858,0.0495900652139,0.999999791291,0.000137921727451,-0.000631185162109,-2.20716991098e-07,1793244757370390528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.160617945,680.839382055,658,629.839382055,880,785.839382055,806.839382055,652,629,652,0.449886325034,-0.0054425814785,0.0495950166704,0.999999797294,0.000142535512561,-0.000620558195091,-1.85818488223e-06,1793244757387057664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.585756434,745.414243566,714,681,658,630,880,786,806.585756434,652,629.414243566,651.585756434,0.449538647809,-0.00543483930386,0.0495978816353,0.99999980058,0.00014532131502,-0.000614579501164,-3.67213674897e-06,1793244757403724288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.010622166,745.989377834,714,681,658,630,880,786,806.010622166,652,629.989377834,651.010622166,0.449177070006,-0.00542743381684,0.0495999362142,0.999999802824,0.000147397135523,-0.000610406179949,-5.55463431534e-06,1793244757420390912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.582038287,745.417961713,714.582038287,681,658,630,880,786,806.582038287,652,630,651.582038287,0.448759174661,-0.00541891917918,0.0495966125185,0.999999797976,0.000151868400598,-0.000617189184808,-7.85262166927e-06,1793244757437057280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.82898765,681,658,630,880,786,807,652,630,651.82898765,0.448330875533,-0.005413159792,0.0495935928945,0.999999794971,0.00015262181222,-0.000621815410829,-1.04783583665e-05,1793244757453723648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.249604145,681,658,630,880,786,807,652,630,651.249604145,0.447880263142,-0.00541402967985,0.0495915410461,0.999999796784,0.000144389491903,-0.000620799025068,-1.3868078727e-05,1793244757470390272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.327161518,880,786,806.672838482,652,630,651,0.447408303188,-0.00541844365309,0.0495898048974,0.999999798105,0.0001314804335,-0.000621480368178,-1.62810249503e-05,1793244757487056896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.901945843,880,786,806.098054157,652,630,651,0.44692018559,-0.0054255400824,0.049588307696,0.99999979888,0.000115031633281,-0.000623446692239,-1.7954668338e-05,1793244757503723520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.486993903,745,714,680.513006097,658,631,880,786,806.486993903,652,630,651.486993903,0.446408341548,-0.00542115042092,0.0495882425853,0.999999799508,0.000113214515668,-0.000622676947878,-2.09869572797e-05,1793244757520390400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.926846968,745,714,680.073153032,658.073153032,631,879.926846968,786,807,652,630,652,0.445887539351,-0.00541455119233,0.0495931580067,0.999999804339,0.000114068754406,-0.000614603074294,-2.39575700696e-05,1793244757537057280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.347605665,745,714,680.652394335,658.652394335,631,879.347605665,786,807,652,630,652,0.445338523845,-0.00540900974969,0.0496304920294,0.999999836622,0.000112583964782,-0.000559890943077,-2.45682212472e-05,1793244757553723904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.769626126,658.769626126,631.230373874,879.230373874,786,806.769626126,652,630,652,0.444772121203,-0.00540577038947,0.0496657358217,0.999999862925,0.000108528950249,-0.000511600699435,-2.52290085048e-05,1793244757570390784
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.193540096,658.193540096,631.806459904,879.806459904,786,806.193540096,652,630,652,0.444179626467,-0.00540598566555,0.0496978428932,0.999999882761,0.00010061691022,-0.000472947510697,-2.59650328439e-05,1793244757587057920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.381988411,658.381988411,632,880.381988411,786,806,652,630.381988411,651.618011589,0.443534492542,-0.00540347889612,0.0497029476062,0.999999884191,9.32645542505e-05,-0.00047127141389,-2.86820044711e-05,1793244757603724544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.957234836,658.957234836,632,880.957234836,786,806,652,630.957234836,651.042765164,0.442862727081,-0.00539959497206,0.0496943911128,0.99999987654,8.61953574733e-05,-0.000488303004524,-3.24011895666e-05,1793244757620391168
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.453880688,659,632.546119312,880.453880688,786.546119312,806,652,631,651.546119312,0.442219455902,-0.00539516030143,0.0497102244273,0.999999893825,8.10679482049e-05,-0.000452211216899,-3.58269189734e-05,1793244757637057792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.267134279,633,880.13356714,786.86643286,806,652,631,652,0.441566586698,-0.00539227946446,0.0497360353682,0.99999991611,7.44303696374e-05,-0.000400931789899,-3.86419254248e-05,1793244757653724672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.425141863,633,880.712570932,786.287429068,806,652,631,652,0.440874077069,-0.00539472806106,0.0497885884438,0.999999948226,6.22364034344e-05,-0.000313231161595,-3.94988132629e-05,1793244757670391296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.289239387,660.710760613,633,881,786.289239387,806,652,631,651.710760613,0.440146654607,-0.00539693752642,0.0498172004489,0.999999961873,5.12017476879e-05,-0.000268225032324,-4.10715435609e-05,1793244757687058176
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.863605779,660.136394221,633,881,786.863605779,806,652,631,651.136394221,0.439384815618,-0.00539891126078,0.0498222117823,0.999999963013,4.13099182991e-05,-0.000265306366275,-4.33499388551e-05,1793244757703724800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.561171344,659.561171344,633,880.561171344,787,806,652,630.561171344,651,0.438560681166,-0.00539657530114,0.0497963043204,0.999999950139,3.25844839855e-05,-0.000310506597643,-4.73939348467e-05,1793244757720391680
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.19400596,633,880,786.19400596,806,652,631,651.80599404,0.436083007889,-0.00538922314955,0.0497864327658,0.999999939638,1.01238991074e-05,-0.000342735213818,-5.61587007855e-05,1793244757770390784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713,680,659.771284224,633,880,786.771284224,806,652,631,651.228715776,0.435191837941,-0.00538328788818,0.0497871497244,0.999999937558,4.86279909309e-06,-0.00034826477696,-5.97650347486e-05,1793244757787057408
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.90259823,633.09740177,879.90259823,786.90259823,806,652,631,651.09740177,0.431787491689,-0.00538625594828,0.049816922804,0.999999952458,4.1389109756e-05,-0.000302099511995,-4.58988919783e-05,1793244757853724416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.32346159,633.67653841,879.32346159,786.32346159,806,652,631,651.67653841,0.430865239965,-0.00537581432579,0.0498025044413,0.999999945234,9.57471497062e-05,-0.000314617381241,-3.71410695967e-05,1793244757870391040
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.167419277,680,659.167419277,633.167419277,879.832580723,786.832580723,805.167419277,652,631,651.167419277,0.428974911989,-0.00536325003459,0.0497640772867,0.999999925406,0.00010495793796,-0.000369328046986,-4.20649980661e-05,1793244757903723520
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.112252539,745,714,679.112252539,660.887747461,634,880,787,806.887747461,652,631,651.112252539,0.422691212668,-0.00536291811509,0.0498339800841,0.999999965549,8.28738952922e-05,-0.00024435659438,-4.82028500775e-05,1793244758020390656
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e95ef7bca05d58877466aa48373c75653080e47
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4361acf5fcab406a8d7ff5270997d00703f1c4e0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25695024
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e05fb07f98f16701c7552332c01126f8c9c3c375
--- /dev/null
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+2,0.033333333,BASELINE,765,745.146063169,714,679.146063169,660,634,878.146063169,787,806,653,630.146063169,652,0.400985177808,-0.00540045364904,0.0498516142004,0.999999960471,0.000108568204541,-0.000255732501042,-4.3273140705e-05,1793244759435082496
+3,0.050000000,BASELINE,765,745.723758646,714,679.723758646,660,634,878.723758646,787,806,653,630.723758646,652,0.400984760512,-0.00539963446366,0.0498514132166,0.999999960284,0.000110567613749,-0.000255580730212,-4.3427701209e-05,1793244759451748864
+4,0.066666667,BASELINE,765,745.691441209,713.691441209,679.691441209,660,634,879,787,806,653,631,652,0.400985054326,-0.00540001832844,0.049851775695,0.999999960427,0.000110606990132,-0.000255012480939,-4.33788689379e-05,1793244759468415744
+5,0.083333333,BASELINE,765,745.100130643,713.100130643,679.100130643,660,634,879,787,806,653,631,652,0.400985999776,-0.0054015046236,0.0498526545093,0.999999960871,0.000108850265381,-0.000254062586358,-4.31436551007e-05,1793244759485082368
+6,0.100000000,BASELINE,765,745,713.48086894,679,660,634,879,787,805.51913106,653,630.51913106,652,0.400985840976,-0.00540139588927,0.0498529362967,0.999999960637,0.000109297364155,-0.000254799077231,-4.30912216542e-05,1793244759501749248
+7,0.116666667,BASELINE,765,745,714,679.059756024,660,634,879,787,805.059756024,652.940243976,630.059756024,652,0.400985383004,-0.00540099473532,0.0498530303061,0.999999960302,0.000110071181738,-0.000255781707053,-4.30763158243e-05,1793244759518415872
+8,0.133333333,BASELINE,765,745,714,679.638551689,660,634,879,787,805.638551689,652.361448311,630.638551689,652,0.400984281742,-0.00540087795058,0.0498525504344,0.9999999603,0.000109780559937,-0.000255916210556,-4.30637247066e-05,1793244759535082752
+9,0.150000000,BASELINE,765,745,713.785383871,679.785383871,660,634,878.785383871,787,805.785383871,652,630.785383871,652,0.400983929722,-0.00540071337418,0.0498524953246,0.999999960384,0.000109962185707,-0.000255529398187,-4.29550781332e-05,1793244759551749632
+10,0.166666667,BASELINE,765,745,713.213861513,679.213861513,660,634,878.213861513,787,805.213861513,652,630.213861513,652,0.400984823689,-0.00540046932035,0.0498531465928,0.999999960608,0.000110929158353,-0.000254275638464,-4.26866915137e-05,1793244759568416256
+11,0.183333333,BASELINE,765,745,713.369757989,679,660,634,878.369757989,787,805,652.369757989,630,652,0.400984818881,-0.005400645637,0.0498528545213,0.999999960547,0.000110816140105,-0.000254541557446,-4.28226540877e-05,1793244759585082624
+12,0.200000000,BASELINE,765,745,713.960610976,679,660,634,878.960610976,787,805,652.960610976,630,652,0.400984276656,-0.00540107331211,0.0498519983843,0.999999960315,0.000110057346633,-0.000255716160821,-4.32003952756e-05,1793244759601748992
+13,0.216666667,BASELINE,765,745,713.459827498,679,660,634,879,787,805.540172502,652.459827498,630.540172502,652,0.400985237448,-0.00540087391606,0.0498529920907,0.999999960521,0.000111734992781,-0.000254222780152,-4.2939645179e-05,1793244759618415616
+14,0.233333333,BASELINE,765,745,713.117707099,679,660,634,879,787,805.882292901,652.117707099,631,652,0.400986054851,-0.00540066444732,0.0498538722245,0.999999960724,0.000113007609163,-0.000252887769397,-4.27730025473e-05,1793244759635082496
+15,0.250000000,BASELINE,765,745,713.690523161,679,660,634,879,787,805.309476839,652.690523161,631,652,0.400985902762,-0.00540058920887,0.0498538023703,0.999999960813,0.000112041334818,-0.000252901895486,-4.31465517437e-05,1793244759651749632
+16,0.266666667,BASELINE,765,745,714,679,660.263987786,634,879,787,805,653,630.736012214,652,0.400985100501,-0.00540087529257,0.0498533055658,0.999999960734,0.000110953407369,-0.000253674455983,-4.32608301313e-05,1793244759668416256
+17,0.283333333,BASELINE,765,745,714,679,660.838214571,634,879,787,805,653,630.161785429,652,0.400983534155,-0.00540158600281,0.0498523070084,0.999999960454,0.000109722512993,-0.000255338330184,-4.30704128987e-05,1793244759685082880
+18,0.300000000,BASELINE,765,745,714,679,660.572699594,634,878.572699594,787,805.427300406,653,630,652,0.400983580789,-0.00540240452225,0.0498524780876,0.999999960555,0.000108842232809,-0.000255359505733,-4.28306878269e-05,1793244759701749504
+19,0.316666667,BASELINE,765,745,714,679,660,634,878.02154173,787,806,653,630.02154173,652,0.400984243178,-0.00540323273684,0.0498530779997,0.99999996081,0.000108045818988,-0.000254737824044,-4.25958449265e-05,1793244759718416128
+20,0.333333333,BASELINE,765,745,714,679,660,634,878.598429237,787,806,653,630.598429237,652,0.400984468416,-0.0054032206683,0.0498529052286,0.999999961175,0.000105865880823,-0.000254155132806,-4.2985491567e-05,1793244759735083008
+21,0.350000000,BASELINE,765,745,714,679,660,634,878.825606016,787,806,653,630.825606016,652,0.400984244368,-0.00540317836993,0.0498525295004,0.999999961226,0.000104983442894,-0.000254274246303,-4.32515999516e-05,1793244759751749632
+22,0.366666667,BASELINE,765,745,714,679,660,634,878.251754968,787,806,653,630.251754968,652,0.400982991209,-0.0054030668288,0.0498516888899,0.999999960565,0.000107072986421,-0.000256000874391,-4.32347384935e-05,1793244759768416256
+23,0.383333333,BASELINE,765,745,714,679,660,634,878.662998802,787,806,652.668500599,630.331499401,652,0.400982872661,-0.00540257133412,0.0498516829695,0.999999960425,0.000107455406587,-0.000256378372606,-4.32818963852e-05,1793244759785082880
+24,0.400000000,BASELINE,765,745,714,679,660,634,879.844207213,787,806,652.077896394,630.922103606,652,0.400983640942,-0.00540177573569,0.0498523294549,0.999999960696,0.000106503514264,-0.000255701371267,-4.337909274e-05,1793244759801749760
+25,0.416666667,BASELINE,765,745,714,679.502999092,660.502999092,634,879.497000908,787,805.497000908,652,630.497000908,652,0.400983381524,-0.00539980846991,0.0498521021905,0.999999960249,0.000110608187354,-0.000255666622693,-4.36120139379e-05,1793244759818416384
+26,0.433333333,BASELINE,765,745,714,679.918280496,660.918280496,634,879,787,805,652.081719504,630,652,0.40098321573,-0.00539836678628,0.0498519100553,0.999999959894,0.000113980900037,-0.000255548141286,-4.37733388833e-05,1793244759835083008
+27,0.450000000,BASELINE,765,745,714,679.34378102,660.34378102,634,879,787,805,652.65621898,630,652,0.400984556043,-0.0054011678784,0.0498527302541,0.99999996085,0.000108307132339,-0.000254336328381,-4.33785819316e-05,1793244759851749376
+28,0.466666667,BASELINE,765,745,714,679.23178947,660,634,879,787,805.23178947,653,630.23178947,652,0.40098466264,-0.00540226286419,0.0498530037148,0.999999961133,0.00010620544249,-0.000254147926981,-4.31700968202e-05,1793244759868416000
+29,0.483333333,BASELINE,765,745,714,679.808955784,660,634,879,787,805.808955784,653,630.808955784,652,0.400982930943,-0.00540081567386,0.0498524625111,0.999999960442,0.000109426311317,-0.000255484455314,-4.32391652412e-05,1793244759885082368
+30,0.500000000,BASELINE,765,745,714,679.605490248,660,634,879,787,806,653,631,652,0.400983941469,-0.00540066055943,0.049853416208,0.999999960843,0.000109936795272,-0.000253729638627,-4.2993183046e-05,1793244759901748992
+31,0.516666667,BASELINE,765,745,714,679.015786281,660,634,879,787,806,653,631,652,0.400986308784,-0.00540114473404,0.0498551095468,0.999999961779,0.000109106243976,-0.000250445296557,-4.25913211591e-05,1793244759918415616
+32,0.533333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.436111616,652,0.400984879818,-0.00540076172239,0.0498540583299,0.999999961202,0.000108813970964,-0.000252785176049,-4.30816563997e-05,1793244759935082240
+33,0.550000000,BASELINE,765,745,714,679,660,634,879,787,805.857333586,653,630,652,0.400983885256,-0.00540080224769,0.0498532769388,0.999999960795,0.000108454609811,-0.000254490902869,-4.33901809855e-05,1793244759951748864
+34,0.566666667,BASELINE,765,745,714,679,660,634,879,787,805.280445047,653,630,652,0.400984530673,-0.0054022044573,0.0498535465644,0.999999961051,0.000107845994264,-0.000253795660178,-4.30706499861e-05,1793244759968415488
+35,0.583333333,BASELINE,765,745,714,679,660,634,879,786.704954257,805.295045743,653,630,652,0.400985244957,-0.00540339470034,0.0498537632545,0.999999961276,0.000107916599247,-0.000252947479352,-4.26589076517e-05,1793244759985082368
+36,0.600000000,BASELINE,765,745,714,679,660,634,879,786.130785715,805.869214285,653,630,652,0.400986024393,-0.00540438441633,0.0498539298659,0.99999996147,0.000108629768706,-0.000251954614032,-4.21599303804e-05,1793244760001748992
+37,0.616666667,BASELINE,764.544147159,745,714,679,660,634,879,786.455852841,805.544147159,652.544147159,630,652,0.400985219241,-0.00540261293039,0.0498536810482,0.999999961113,0.000110180137992,-0.000252671895381,-4.23246269106e-05,1793244760018415872
+38,0.633333333,BASELINE,764.045324959,745,714,679,660,634.045324959,879,786.954675041,805.045324959,652.045324959,630,652,0.400984132227,-0.00540027812939,0.0498533757326,0.999999960646,0.000111817633769,-0.00025374153618,-4.26549499582e-05,1793244760035082240
+39,0.650000000,BASELINE,764.624841466,745,714,679,660,634.624841466,879,786.375158534,805.624841466,652.624841466,630,652,0.400985232025,-0.00540090349189,0.0498538487779,0.999999960858,0.00011157147038,-0.000253018712402,-4.26300610338e-05,1793244760051749120
+40,0.666666667,BASELINE,765,745,714,679.202670605,660.202670605,634.797329395,879,786.202670605,806,653,630.202670605,652,0.400985704563,-0.00540153376076,0.0498540361936,0.999999960987,0.00011101617991,-0.000252756800819,-4.26170689568e-05,1793244760068416000
+41,0.683333333,BASELINE,765,745,714,679.777402053,660.777402053,634.222597947,879,786.777402053,806,653,630.777402053,652,0.400985025584,-0.00540217303666,0.0498536992532,0.999999960962,0.000109893396783,-0.000253341027678,-4.26259170054e-05,1793244760085082368
+42,0.700000000,BASELINE,765,745,714,679.638366951,660.638366951,634,879,787,806.361633049,653,630.638366951,652,0.400984325566,-0.00540236975241,0.0498534392008,0.999999960895,0.000108796879469,-0.000254068311772,-4.26869746512e-05,1793244760101748992
+43,0.716666667,BASELINE,765,745,714,679.048130926,660.048130926,634,879,787,806.951869074,653,630.048130926,652,0.400983612248,-0.00540228670785,0.0498532277524,0.9999999608,0.000107716965886,-0.000254886028148,-4.27810361091e-05,1793244760118415616
+44,0.733333333,BASELINE,765,745,714,679.531812082,660.531812082,634,879,787,806.468187918,653,630.531812082,652,0.400983950177,-0.00540177714232,0.0498536385062,0.999999960813,0.000109180295232,-0.000254229960077,-4.26818606937e-05,1793244760135083264
+45,0.750000000,BASELINE,765,744.89017327,714,679.89017327,660.89017327,634,879,787,806,653,630.89017327,652,0.4009843875,-0.00540103423044,0.0498540530665,0.999999960812,0.000110932141644,-0.000253473877634,-4.26665756664e-05,1793244760151750400
+46,0.766666667,BASELINE,765,744.316443947,714,679.316443947,660.316443947,634,879,787,806,653,630.316443947,652,0.400984850409,-0.00539946563119,0.049854250364,0.999999960727,0.000112948891161,-0.000252848044776,-4.30781079907e-05,1793244760168417024
+47,0.783333333,BASELINE,765,744.263860754,714,679.263860754,660,634,878.736139246,787,806,653,630,651.736139246,0.400985549981,-0.00539886196778,0.0498544040052,0.999999960805,0.000113157838368,-0.000252425165956,-4.32145032249e-05,1793244760185083392
+48,0.800000000,BASELINE,765,744.852252815,714,679.852252815,660,634,878.147747185,787,806,653,630,651.147747185,0.40098654063,-0.00539944511156,0.049854503952,0.999999961083,0.000111143308366,-0.000252251907118,-4.30124980602e-05,1793244760201750016
+49,0.816666667,BASELINE,765,745,714,679.566150875,660,634,878.433849125,787,805.566150875,653,630.433849125,651.433849125,0.400985026224,-0.00540064725269,0.0498535628811,0.999999960809,0.000110192070434,-0.000253779048846,-4.28507208106e-05,1793244760218416640
+50,0.833333333,BASELINE,765,745,714,679,660,634,879,787,805.01315948,653,631,652,0.400982773842,-0.00540201929346,0.0498523427483,0.999999960375,0.000109609772059,-0.000255756067366,-4.27101574309e-05,1793244760235083264
+51,0.850000000,BASELINE,765,745,714,679,660,634,879,787,805.592155005,653,631,652,0.400984905718,-0.00540177250488,0.0498541320155,0.999999961184,0.00010956152198,-0.00025256195825,-4.29017794348e-05,1793244760251749632
+52,0.866666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630.830393223,652,0.400986343824,-0.00540170524618,0.0498552926191,0.999999961735,0.000109456692566,-0.000250414205894,-4.29212070325e-05,1793244760268416000
+53,0.883333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.256620185,652,0.400986128707,-0.00540206580013,0.0498549551422,0.999999961691,0.000109217036833,-0.000250759880619,-4.25303021418e-05,1793244760285082624
+54,0.900000000,BASELINE,765,744.674864451,713.674864451,679,660,634,878.674864451,787,805.674864451,653,630.325135549,652,0.400985709406,-0.00540185288746,0.0498544639509,0.99999996147,0.000110451407778,-0.000251100430782,-4.25264419917e-05,1793244760301749504
+55,0.916666667,BASELINE,765,744.08664965,713.08664965,679,660,634,878.08664965,787,805.08664965,653,630.91335035,652,0.400985124893,-0.00540117596162,0.0498538483836,0.999999961102,0.000112878468487,-0.000251436834453,-4.28357541411e-05,1793244760318416384
+56,0.933333333,BASELINE,765,744.494436991,713,679,660,634,878.494436991,787,805,653,630.505563009,652,0.40098609356,-0.00540094402541,0.0498547264203,0.999999961411,0.000111199236021,-0.000250928026412,-4.2997873064e-05,1793244760335083264
+57,0.950000000,BASELINE,765,745,713.073869319,679.073869319,660,634,879,787,805.073869319,653,630,652,0.400987084164,-0.00540089523526,0.0498556499755,0.999999961739,0.00010937688648,-0.000250411926243,-4.30376891014e-05,1793244760351749888
+58,0.966666667,BASELINE,765,745,713.650423768,679.650423768,660,634,879,787,805.650423768,653,630,652,0.400986398079,-0.00540156962099,0.0498551273578,0.999999961434,0.000111408107514,-0.000250839860964,-4.24182717e-05,1793244760368416256
+59,0.983333333,BASELINE,765,745,714,679.77457575,660.22542425,634.22542425,879,787,805.77457575,653,630,652,0.400986358221,-0.00540126484322,0.0498550042149,0.999999961288,0.000113101577093,-0.000250702297802,-4.2187969148e-05,1793244760385082624
+60,1.000000000,BASELINE,765,745,714,679.201968493,660.798031507,634.798031507,879,787,805.201968493,653,630,652,0.400987313637,-0.00539945202488,0.0498554963157,0.999999961392,0.000114274865297,-0.000249693793555,-4.25569545733e-05,1793244760401749248
+61,1.016666667,BASELINE,764.61645095,745,714,679,661,634.61645095,879,787,805,653,630.38354905,652,0.400986926364,-0.00539975923491,0.0498552741387,0.999999961435,0.000112643331138,-0.00025022190488,-4.27816314249e-05,1793244760418416128
+62,1.033333333,BASELINE,764.023898369,745,714,679,661,634.023898369,879,787,805,653,630.976101631,652,0.400985807434,-0.00540122169082,0.0498546627374,0.999999961437,0.000109483393232,-0.000251587348755,-4.29276716327e-05,1793244760435082752
+63,1.050000000,BASELINE,764.554011332,745.554011332,714,679.554011332,661,634.554011332,879,787,805,653,631,652.554011332,0.400985344514,-0.00540155141096,0.0498543089517,0.999999961396,0.000110017851714,-0.000251580166394,-4.25730439756e-05,1793244760451749632
+64,1.066666667,BASELINE,765,746,714,680,660.869105246,634.869105246,879,787,805.130894754,653,630.869105246,652.869105246,0.400985194995,-0.00540163495676,0.0498540241785,0.999999961349,0.000110717759381,-0.000251486210467,-4.24068771198e-05,1793244760468416512
+65,1.083333333,BASELINE,765,746,714,680,660.293617482,634.293617482,879,787,805.706382518,653,630.293617482,652.293617482,0.40098601632,-0.0054010440467,0.0498539370377,0.999999961293,0.000111452270512,-0.000251293457471,-4.29522980672e-05,1793244760485083136
+66,1.100000000,BASELINE,764.711887323,745.711887323,714,679.711887323,660,634.288112677,879,787,805.711887323,653,630,652,0.400986165972,-0.00539986043161,0.049854141062,0.999999961184,0.000112671490084,-0.00025113379003,-4.32232539127e-05,1793244760501749760
+67,1.116666667,BASELINE,764.123654647,745.123654647,714,679.123654647,660,634.876345353,879,787,805.123654647,653,630,652,0.400985615959,-0.00539805941006,0.049854648386,0.999999961021,0.000114395618656,-0.000251008587021,-4.32083060728e-05,1793244760518416384
+68,1.133333333,BASELINE,764.457525612,745,714,679,660,634.542474388,879,787,805.457525612,653,630,652,0.400985194986,-0.00539967424957,0.0498540405218,0.999999961256,0.000110965310129,-0.000251625432138,-4.31290324579e-05,1793244760535082752
+69,1.150000000,BASELINE,765,745,713.963345754,679.036654246,660,634,879,787,806,653,630,652,0.400984840894,-0.00540203543199,0.0498531977087,0.999999961546,0.000106549019655,-0.000252398182586,-4.30223974717e-05,1793244760551749376
+70,1.166666667,BASELINE,765,745,713.386788313,679.613211687,660,634,879,787,806,653,630,652,0.400984966027,-0.00540199801823,0.0498532663015,0.99999996138,0.000107817653157,-0.000252558146272,-4.27649302637e-05,1793244760568416000
+71,1.183333333,BASELINE,764.810513755,745,713.189486245,679.810513755,660,634,879,787,806,653,630.189486245,652,0.400985485441,-0.00540185980614,0.0498538941578,0.999999961504,0.000108641946031,-0.000251733812501,-4.26551900291e-05,1793244760585082880
+72,1.200000000,BASELINE,764.234815664,745,713.765184336,679.234815664,660,634,879,787,806,653,630.765184336,652,0.400986808476,-0.00540151614636,0.0498556619079,0.999999962213,0.000108560581759,-0.00024890327858,-4.28465476306e-05,1793244760601749504
+73,1.216666667,BASELINE,764.348354546,745,714,679.348354546,660,634,878.651645454,787,806,653,630.651645454,652,0.400986996328,-0.00540222756928,0.0498562639977,0.999999962371,0.000108994615249,-0.000248107503167,-4.26732101056e-05,1793244760618416384
+74,1.233333333,BASELINE,764.936671862,745,714,679.936671862,660,634,878.063328138,787,806,653,630.063328138,652,0.400986402213,-0.00540366578214,0.0498560631265,0.999999962152,0.000109783678633,-0.000248713363974,-4.22486536482e-05,1793244760635083008
+75,1.250000000,BASELINE,765,745,714,679.483065793,660.516934207,634.516934207,879.033868415,787,806,653,630.516934207,652,0.400986225089,-0.00540210356121,0.0498551680066,0.999999961848,0.000110388330843,-0.000249652515348,-4.23413551621e-05,1793244760651749632
+76,1.266666667,BASELINE,765,745,714,679.095866071,660.904133929,634.904133929,879.904133929,787,806,653,630.904133929,652,0.400985870147,-0.00540054941448,0.049854234717,0.999999961509,0.000110988483432,-0.000250717773168,-4.24831151441e-05,1793244760668416256
+77,1.283333333,BASELINE,765,745,714,679.67299653,660.32700347,634.32700347,879.32700347,787,806,653,630.32700347,652,0.400984370008,-0.00540085277772,0.0498535302255,0.999999961052,0.000111677721198,-0.000252214276153,-4.25579206901e-05,1793244760685082624
+78,1.300000000,BASELINE,765,745,714,679.752161422,660,634,879,787,806,653,630,652,0.400983856336,-0.00540172704716,0.0498533657497,0.999999961019,0.000110755854772,-0.000252738176052,-4.26374307738e-05,1793244760701749248
+79,1.316666667,BASELINE,765,745,714,679.180311173,660,634,879,787,806,653,630,652,0.400984632319,-0.0054033476906,0.0498539072634,0.999999961535,0.000107727711836,-0.000251990543551,-4.27230913273e-05,1793244760718415872
+80,1.333333333,BASELINE,764.594436815,745,714,679,660.405563185,634.405563185,879,787,805.594436815,653,630,652,0.400984193502,-0.00540230633171,0.0498535238351,0.999999961194,0.000108456458031,-0.000253010627865,-4.28364032153e-05,1793244760735082752
+81,1.350000000,BASELINE,764.002104037,745,714,679,660.997895963,634.997895963,879,787,805.002104037,653,630,652,0.400983195248,-0.00540003907005,0.0498527144533,0.999999960453,0.000110915323172,-0.000254844779476,-4.29624490785e-05,1793244760751749888
+82,1.366666667,BASELINE,764.57760286,745,713.42239714,679,660.42239714,634.42239714,879,787,805.57760286,653,630.57760286,652,0.400985096187,-0.00540114267275,0.0498541789971,0.999999961275,0.000110017033705,-0.000252031056277,-4.27352174166e-05,1793244760768416768
+83,1.383333333,BASELINE,765,745,713,679.156042226,660,634.156042226,879,787,806,653,630.843957774,652,0.400986493318,-0.0054016780731,0.0498552554193,0.999999961859,0.000110088419641,-0.000249709493325,-4.25278308474e-05,1793244760785083392
+84,1.400000000,BASELINE,765,745,713,679.731198148,660,634.731198148,879,787,806,653,630.268801852,652,0.400986509509,-0.00540065506459,0.049855267614,0.999999961801,0.000112796399375,-0.000248754324337,-4.23771286557e-05,1793244760801750016
+85,1.416666667,BASELINE,764.687349603,745,713.312650397,679.687349603,660,635,879,787,806,653,630.312650397,652,0.400986184513,-0.00540005757298,0.0498552079947,0.999999961724,0.000112968702603,-0.000248977374942,-4.24391702243e-05,1793244760818416384
+86,1.433333333,BASELINE,764.100372852,745,713.899627148,679.100372852,660,635,879,787,806,653,630.899627148,652,0.400985560151,-0.00539983343933,0.049855085364,0.999999961629,0.000110916147171,-0.000250234221464,-4.26878778697e-05,1793244760835082752
+87,1.450000000,BASELINE,764.4833381,745.4833381,714,679,660.4833381,634.5166619,879,787,806,653,631,652,0.400985904307,-0.00540083363063,0.0498546459458,0.999999961562,0.000110235093484,-0.000250800613999,-4.26994690231e-05,1793244760851749376
+88,1.466666667,BASELINE,765,745.934543392,714,679.065456608,660.934543392,634,878.934543392,787,806,653,631,652,0.400986064893,-0.00540177015592,0.049854096953,0.999999961438,0.000110043003285,-0.00025137979129,-4.26976547681e-05,1793244760868416256
+89,1.483333333,BASELINE,765,745.359576755,714,679.640423245,660.359576755,634,878.359576755,787,806,653,631,652,0.400983241518,-0.00540024532144,0.0498532036753,0.999999960819,0.000111454877239,-0.000253167083772,-4.29722101602e-05,1793244760885082880
+90,1.500000000,BASELINE,764.785254612,745,714,679.785254612,660,634,878.214745388,787,805.785254612,653,630.785254612,652.214745388,0.400982171041,-0.00540033202692,0.0498528726318,0.999999960718,0.000110971200494,-0.000253781430956,-4.29411195221e-05,1793244760901749504
+91,1.516666667,BASELINE,764.212008459,745,714,679.212008459,660,634,878.787991541,787,805.212008459,653,630.212008459,652.787991541,0.400984026892,-0.0054031090735,0.0498534801946,0.99999996148,0.000107323048776,-0.000252437636785,-4.23997765215e-05,1793244760918415872
+92,1.533333333,BASELINE,764.373955964,745,714,679.373955964,660.373955964,634,879,787,805,653,630.373955964,652.626044036,0.400984642681,-0.00540341576412,0.049853978518,0.999999961523,0.000107303030656,-0.000252292489332,-4.22833886127e-05,1793244760935082496
+93,1.550000000,BASELINE,764.967384729,745,714,679.967384729,660.967384729,634,879,787,805,653,630.967384729,652.032615271,0.400984530685,-0.00540227261602,0.0498544127295,0.999999961148,0.000109412344822,-0.000252850821241,-4.2416404573e-05,1793244760951749120
+94,1.566666667,BASELINE,765,745,714,679.45389466,660.45389466,634,879,787,805.54610534,653,631,652,0.400986551629,-0.0054021435266,0.0498561271106,0.999999961972,0.00010941417161,-0.000249587547963,-4.23108348468e-05,1793244760968415488
+95,1.583333333,BASELINE,765.123157112,745.123157112,714,679,660,634,878.876842888,787,805.876842888,653,631,652,0.400987515496,-0.00540232526299,0.0498569050854,0.999999962429,0.000109204065246,-0.000247848696062,-4.22749841667e-05,1793244760985082368
+96,1.600000000,BASELINE,765.697230724,745.697230724,714,679,660,634,878.302769276,787,805.302769276,653,631,652,0.400984154904,-0.00540342910466,0.0498539819984,0.999999961311,0.00010866675534,-0.000252504962851,-4.25451988937e-05,1793244761001748992
+97,1.616666667,BASELINE,765.728374332,745.728374332,714,679,660.271625668,634,878.543251335,787,805.271625668,653,631,652,0.400983162331,-0.00540346087264,0.0498530672061,0.999999961,0.000108244418302,-0.000253884540011,-4.27278134485e-05,1793244761018415616
+98,1.633333333,BASELINE,765.153620825,745.153620825,714,679,660.846379175,634,879.69275835,787,805.846379175,653,631,652,0.400984812413,-0.0054022962316,0.0498543936236,0.999999961604,0.000107950388309,-0.000251607408538,-4.28126682612e-05,1793244761035082240
+99,1.650000000,BASELINE,765,745,714,679,660.564597606,634,879.564597606,787,806,653,631,652,0.400985146598,-0.00540179087469,0.0498546680273,0.999999961672,0.000108828696624,-0.00025097055441,-4.27225681036e-05,1793244761051748864
+100,1.666666667,BASELINE,765,745,714,679.028715632,660,634.028715632,879,787,805.971284368,653,631,652,0.400984974652,-0.00540151264796,0.0498545522805,0.99999996153,0.000110188217173,-0.00025097060882,-4.25792072313e-05,1793244761068415488
+101,1.683333333,BASELINE,765,745,714,679.604588855,660,634.604588855,879,787,805.395411145,653,631,652,0.400984305062,-0.00540097978754,0.0498543146457,0.999999961077,0.000112568413629,-0.000251705551104,-4.26370483536e-05,1793244761085082112
+102,1.700000000,BASELINE,765,745,713.819878698,680,660,634.819878698,879,787.180121302,805.180121302,653,631,652,0.40098442919,-0.00540088835764,0.0498545870811,0.999999960988,0.000113736449949,-0.000251527124163,-4.26911220712e-05,1793244761101748992
+103,1.716666667,BASELINE,765,745,713.245093006,680,660,634.245093006,879,787.754906994,805.754906994,653,631,652,0.400986292433,-0.00540176414771,0.0498559771332,0.9999999617,0.000112248517803,-0.000249347410741,-4.27369410086e-05,1793244761118415616
+104,1.733333333,BASELINE,765,745,713,680,660,634,878.663113868,787.663113868,806,653,631,652,0.400986643523,-0.00540244401968,0.049856101924,0.999999961992,0.000110659867618,-0.000248894597679,-4.26818142434e-05,1793244761135082240
+105,1.750000000,BASELINE,765,745,713,680,660,634,878.075787074,787.075787074,806,653,631,652,0.400985870481,-0.00540297824652,0.0498552861216,0.999999961973,0.000108996343632,-0.000249725559617,-4.25516445941e-05,1793244761151749120
+106,1.766666667,BASELINE,765,745,713.507194374,679.492805626,660.507194374,634.507194374,878.507194374,787,806,653,631,652,0.400986690365,-0.00540281088639,0.0498559917131,0.999999962208,0.000109317363907,-0.000248652993857,-4.24815866147e-05,1793244761168415488
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,679,660,635,879,787,806,653,631,653,0.400983125199,-0.00540004593282,0.0498539436283,0.999999961012,0.000111828701107,-0.000252247671566,-4.29113331068e-05,1793244761211556096
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.424658099,714,679.575341901,660,635,879,787,806,653,630.424658099,652.424658099,0.400984967551,-0.00540059427134,0.0498549955787,0.999999961526,0.000110983524461,-0.000250556353024,-4.30345441313e-05,1793244761228222720
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.154361732,714,679.845638268,660,634.845638268,879,787,806,653,630,652,0.400986418776,-0.00540126977992,0.0498558102277,0.999999961942,0.000110299000672,-0.000249208250114,-4.29477694705e-05,1793244761244889344
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.743746866,714,679.256253134,660,634.256253134,879,787,806,653,630,652,0.400986767726,-0.00540230368021,0.0498559561129,0.999999962092,0.000110067229786,-0.000248827399715,-4.22692115883e-05,1793244761261555968
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,714,679,660,634,879,787,806,653,630,652,0.400986721045,-0.00540288545477,0.0498560248146,0.999999962262,0.000108819850369,-0.000248707385735,-4.21670418048e-05,1793244761278222592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,746,714,679,660,634,879,787,806,653,630,652,0.400986370033,-0.00540311944334,0.0498560341449,0.999999962447,0.000106791240601,-0.000248788013385,-4.25082435687e-05,1793244761294888960
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.515589618,714,679,660,634,879,787,806,653,630,652,0.400984453344,-0.00540259383182,0.0498542832579,0.999999961488,0.000108772765922,-0.000251778547063,-4.2418388093e-05,1793244761311556096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.94124168,787,806,653,630.05875832,652,0.40098330403,-0.00540221370406,0.0498528366641,0.999999960636,0.000110838550869,-0.000254278662518,-4.2242611027e-05,1793244761328223744
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.368077925,787,806,653,630.631922075,652,0.40099142148,-0.00540434374921,0.0498569194182,0.999999962691,0.000107114064676,-0.000247748450366,-4.20163249941e-05,1793244761344890624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.21304264,787,806,653,630.78695736,652,0.401005081134,-0.00540549542465,0.0498628363301,0.999999965514,0.000105111749267,-0.000237027754385,-4.17382642204e-05,1793244761361557248
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,878.808443631,787,806,653,630.191556369,652,0.40102868766,-0.00540489117049,0.0498720450968,0.999999969571,0.000106200300862,-0.000218786186745,-4.13672807306e-05,1793244761378223360
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.390429564,634,879,787,806,653,630,652.390429564,0.401075029813,-0.00540591630747,0.0498882837942,0.999999976406,0.000106218929302,-0.00018512375864,-4.04278245732e-05,1793244761394889984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.966052359,634,879,787,806,653,630,652.966052359,0.401132156203,-0.00540771431673,0.0499078570133,0.999999983252,0.000105730058925,-0.000144146721341,-3.92187235617e-05,1793244761411556608
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.540841834,879.540841834,787,806,653,630,652.459158166,0.401203048925,-0.00541071063244,0.0499266919296,0.999999987331,0.000106135451449,-0.000112589514763,-3.73705242693e-05,1793244761428223232
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,713.880951478,679,661,634.880951478,879.880951478,787,805.880951478,653,630.119048522,652,0.401275826708,-0.00541362107885,0.049943076516,0.999999990012,0.0001061704448,-8.62252689796e-05,-3.56329417782e-05,1793244761444889600
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,713.288961661,679,661,634.288961661,879.288961661,787,805.288961661,653,630.711038339,652,0.401352665791,-0.00541589204809,0.0499499105582,0.99999999089,0.000104511314261,-7.81456763123e-05,-3.44939224586e-05,1793244761461556224
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.704162694,745,713.295837306,679,660.704162694,634,879,787,805,653,630.704162694,652,0.401439121375,-0.00541848618694,0.0499523351957,0.9999999913,0.000102867703122,-7.53673124325e-05,-3.37284846877e-05,1793244761478222848
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.126220813,745,713.873779187,679,660.126220813,634,879,787,805,653,630.126220813,652,0.401534747059,-0.00542138849377,0.049950555112,0.999999991306,0.000101238891077,-7.76440954308e-05,-3.33192869252e-05,1793244761494889728
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,678.550783998,660,634,879,787,805.449216002,653,630,652,0.401646172314,-0.00542543124951,0.049948198634,0.999999991298,9.80718510387e-05,-8.19378033854e-05,-3.27395042945e-05,1793244761511556352
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.02455363,745,714,678.02455363,660,634,879.02455363,787,805.97544637,653,630,652,0.401763325704,-0.00542977944527,0.0499459125648,0.999999991258,9.47148461471e-05,-8.65083178025e-05,-3.20778319243e-05,1793244761528222464
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.613706218,745,714,678.613706218,660,634,879.613706218,787,805.386293782,653,630,652,0.401910679838,-0.00543382350513,0.0499489489469,0.99999999127,9.68730740385e-05,-8.44847692248e-05,-3.06291817594e-05,1793244761544889088
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.199412387,634,879.800587613,787,805.199412387,653,630,652,0.402067860062,-0.00543810474289,0.0499499327683,0.999999991153,9.70489319414e-05,-8.60893817439e-05,-2.93907420792e-05,1793244761561555456
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.778555648,634,879.221444352,787,805.778555648,653,630,652,0.402243751595,-0.00544283762602,0.0499470080021,0.999999990751,9.34498631844e-05,-9.46029172554e-05,-2.85525957048e-05,1793244761578222080
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.645399277,634,879,787.354600723,806,652.645399277,630.354600723,652,0.402448363919,-0.00545020806993,0.0499464613775,0.99999999107,8.93476096951e-05,-9.55804947521e-05,-2.72443169886e-05,1793244761594888960
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.071272172,634,879,787.928727828,806,652.071272172,630.928727828,652,0.402670756742,-0.00545921137667,0.0499473870135,0.999999991842,8.49338440175e-05,-9.18927086632e-05,-2.56449884412e-05,1793244761611555584
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.504090642,714,679.504090642,660,634,879,787.495909358,806,652.504090642,631,652,0.402922184862,-0.00546793101868,0.0499511478619,0.999999992555,8.07723935218e-05,-8.84464492235e-05,-2.33166752745e-05,1793244761628222464
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.918047468,745.918047468,714,680,660,634,879,786.918047468,806,653,630.918047468,652,0.40318389229,-0.00547679547198,0.0499557935573,0.999999993388,7.65487677953e-05,-8.32384991721e-05,-2.08911691089e-05,1793244761644889088
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.325712374,745.325712374,714,680,660,634,879,786.325712374,806,653,630.325712374,652,0.403483987804,-0.00548681217183,0.0499634472619,0.999999995023,7.17152090728e-05,-6.68459269313e-05,-1.85038361822e-05,1793244761661555712
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.26064324,745,714,679.73935676,660,634.26064324,879.26064324,786.26064324,806,653,630.26064324,652,0.403809783531,-0.00549644909742,0.0499729738117,0.999999996471,6.77417110585e-05,-4.70282206717e-05,-1.60583200731e-05,1793244761678222336
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.83969415,745,714,679.16030585,660,634.83969415,879.83969415,786.83969415,806,653,630.83969415,652,0.4041669752,-0.00550562208159,0.049984788271,0.999999997542,6.48188829156e-05,-2.30262942951e-05,-1.35417262153e-05,1793244761694888960
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.584275583,879.584275583,787,805.584275583,653,630.584275583,652,0.404550929212,-0.00551494364496,0.0499915273599,0.999999997911,6.30740483872e-05,-9.35420665744e-06,-1.05671903759e-05,1793244761711555584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.009401706,879.009401706,787,805.009401706,653,630.009401706,652,0.404945128494,-0.00552432208786,0.0499963234726,0.999999998064,6.17801786572e-05,3.63365853149e-07,-7.4173432195e-06,1793244761728222208
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.577292165,653,630,652,0.405347998864,-0.00552637509276,0.0499897159076,0.999999997305,7.25430935274e-05,-1.06779378439e-05,-3.60940494875e-06,1793244761744889856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.162040544,660,634,879,787,805.837959456,653,630,652,0.4057563508,-0.0055217735262,0.049978044376,0.999999995436,8.99670757283e-05,-3.21331803519e-05,-1.01884398176e-06,1793244761761556992
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.741273956,660,634,879,787,805.258726044,653,630,652,0.406178444443,-0.00550035254035,0.0499538232048,0.999999989147,0.000124024667628,-7.95117464507e-05,-1.59073839954e-06,1793244761778223360
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.317943775,714,679.682056225,660.317943775,634,879,787.317943775,805.317943775,653,630.317943775,652,0.406638485704,-0.00548960412096,0.049934806815,0.999999982683,0.000147776338581,-0.000113115607364,-6.09762560598e-07,1793244761794889984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.892544225,714,679.107455775,660.892544225,634,879,787.892544225,805.892544225,653,630.892544225,652,0.407129159815,-0.0054874710131,0.0499199919262,0.999999977486,0.000163208670175,-0.000135599991741,1.62475093479e-06,1793244761811557120
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.532626728,714,679,660.065253456,634,879,787.532626728,805.532626728,653,631,652,0.407695300887,-0.00549706128842,0.0499281602318,0.999999979693,0.000165078671656,-0.000115431956165,6.1488055508e-06,1793244761828223488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.043517433,634,879.043517433,787,805.043517433,652.956482567,631,652,0.40828134242,-0.00550859963152,0.0499427169291,0.999999982854,0.000164589385963,-8.41194507191e-05,1.11920707603e-05,1793244761844889344
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.635576373,634,879.635576373,787,805.635576373,652.364423627,631,652,0.408899414508,-0.0055107015051,0.0499711599425,0.999999984138,0.000173685164059,-3.60008975028e-05,1.61414935671e-05,1793244761861556224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.777332227,679.222667773,660,634,879.777332227,787,806,652,630.777332227,652,0.409524802946,-0.00551272247468,0.049992697765,0.999999983003,0.000183163623334,-2.15703836802e-06,2.09853927235e-05,1793244761878222848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.198193448,679.801806552,660,634,879.198193448,787,806,652,630.198193448,652,0.410161904166,-0.00551461392414,0.0500031809983,0.999999980958,0.000193254720606,8.83432104755e-06,2.56603577924e-05,1793244761894889216
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,713.378399948,680,659.621600052,634,879,787,806,652,630.378399948,652,0.41078515677,-0.0055129268898,0.0499874835489,0.999999977961,0.000205928493024,-2.89656043698e-05,2.88458387676e-05,1793244761911555840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.953669047,680,659.046330953,634,879,787,806,652,630.953669047,652,0.411401204372,-0.00550937808698,0.0499581651439,0.999999971078,0.000219945946073,-9.21500441392e-05,3.12563895078e-05,1793244761928222464
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,806,652.528487058,631,652,0.412114466902,-0.00550852319787,0.0499464737755,0.999999966902,0.000233444395664,-0.000102796688496,3.36679484517e-05,1793244761944889344
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.893769102,679.893769102,659.212461796,634,879,787,806,652.893769102,630.893769102,652,0.412847536078,-0.00550850420418,0.0499436199903,0.999999967776,0.000232213842635,-9.71479500374e-05,3.29608117063e-05,1793244761961555968
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.302485626,679.302485626,660.395028749,634,879,787,806,652.302485626,630.302485626,652,0.413632161631,-0.00551122450002,0.0499740688938,0.999999985674,0.000163937914293,-3.81065623628e-05,1.80132387975e-05,1793244761978222336
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.28299275,679,660.71700725,634,879,787,806,652.28299275,630.28299275,652,0.41439940254,-0.00551941640066,0.0499824644425,0.999999993157,0.000114204370825,-2.34577201739e-05,9.69694496739e-06,1793244761994889216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.862390958,679,660.137609042,634,879,787,806,652.862390958,630.862390958,652,0.415148434939,-0.00553333923832,0.0499677614008,0.999999994917,8.38920385454e-05,-5.53054430574e-05,8.32622421082e-06,1793244762011555840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,652.561530918,631,651.561530918,0.415926156443,-0.00553423295054,0.0499481903352,0.999999991957,9.2986177946e-05,-8.56423276919e-05,1.02157557116e-05,1793244762028222208
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.013776352,634.013776352,879,787,805.986223648,652,631,651.013776352,0.416714403687,-0.0055310038298,0.0499281188838,0.999999986903,0.000114240505835,-0.000113885707762,1.31371260296e-05,1793244762044889088
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.600026058,634.600026058,879,787,805.399973942,652,631,651.600026058,0.417568709392,-0.00552509422254,0.0499502634024,0.999999988523,0.000130749810829,-7.46896233818e-05,1.67371507318e-05,1793244762061555712
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.185033069,745,714,679,660.814966931,634.814966931,879.370066139,787,805.185033069,652,631,652,0.418423341832,-0.0055216709579,0.0499677395533,0.999999988834,0.000140546209392,-4.68043161699e-05,1.97036298615e-05,1793244762078222336
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.767371716,745,714,679,660.232628284,634.232628284,880.534743431,787,805.767371716,652,631,652,0.419278675788,-0.00552358640307,0.0499751917188,0.999999989601,0.000135928561435,-4.3205669442e-05,2.13097509744e-05,1793244762094888960
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654550153,745,714,679,660,634,881,787,806,652,630.654550153,652,0.420135889308,-0.00552544138525,0.0499695535928,0.999999989789,0.000133023652855,-4.76310087885e-05,2.14237567818e-05,1793244762111556096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.079306151,745,714,679,660,634,881,787,806,652,630.079306151,652,0.420994353084,-0.00552725614721,0.0499552077698,0.999999989528,0.000131258063229,-5.73939251066e-05,2.05452034627e-05,1793244762128223488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.494966529,660,634,880.505033471,787,806,652,630.494966529,652,0.421924964843,-0.00553038635558,0.0499777473275,0.999999991413,0.000128554030863,-1.23451164914e-05,2.22677856588e-05,1793244762144889856
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.928740117,660,634,880,787,806,652,631,652,0.422860679644,-0.00553338326718,0.0500009392765,0.999999991314,0.000125695543188,3.1502797384e-05,2.40787196488e-05,1793244762161555712
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.336539554,660,634,880,787,806,652,631,652,0.423749356813,-0.00553386793373,0.0499857806438,0.99999999218,0.00012280498437,2.49549505731e-06,2.349475759e-05,1793244762178222336
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,806,652,631,652,0.42465279708,-0.00553562231132,0.0499777782389,0.999999992508,0.000119555293668,-1.13664006827e-05,2.36837857116e-05,1793244762194889216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,806,652,631,652,0.425575670892,-0.00553904807443,0.0499791959399,0.999999992968,0.000115832859035,-5.29162855706e-06,2.48903402091e-05,1793244762211556096
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.401955602,745,714,679.401955602,660,634,880,787,805.598044398,652.401955602,631,651.598044398,0.426491351617,-0.00553801153733,0.0499905643838,0.999999992631,0.000118460504999,2.51642968244e-06,2.64358680031e-05,1793244762228222976
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.977011651,745,714,679.977011651,660,634,880,787,805.022988349,652.977011651,631,651.022988349,0.427403934613,-0.00553505332969,0.0500062180722,0.999999991877,0.000123822785988,1.10709197431e-05,2.81273731102e-05,1793244762244889856
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.434099025,745,714,680,659.434099025,634,879.434099025,787,806.13180195,652.434099025,631,651.565900975,0.428273949134,-0.00553419462097,0.0499709751152,0.999999990217,0.000124900260634,-5.65355548563e-05,2.77508171906e-05,1793244762261556480
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.152645607,634,879.152645607,787,806.847354393,652,631,652,0.429165462239,-0.00553434613703,0.0499461572267,0.999999986973,0.000124346886365,-9.9227629563e-05,2.7322668934e-05,1793244762278223104
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.73178843,634,879.73178843,787,806.26821157,652,631,652,0.430121995727,-0.00553707599082,0.0499563889145,0.999999990455,0.000119735379318,-6.3447048078e-05,2.69909785475e-05,1793244762294889472
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.309470169,745.309470169,714,680,660.618940339,634,880,787,806,652,631,652,0.431040071055,-0.00553961135915,0.0499572841226,0.999999991207,0.000116006632225,-5.81671421083e-05,2.72991627137e-05,1793244762311556096
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.885891536,745.885891536,714,680,661.771783073,634,880,787,806,652,631,652,0.431924972047,-0.0055419789628,0.0499501256155,0.999999990078,0.000113039360523,-7.9197340435e-05,2.81593073083e-05,1793244762328222720
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.53970847,714,680,661.53970847,634,880,787,806,652,631,652,0.432806755463,-0.00554115034031,0.0499438640449,0.999999989821,0.000111979774226,-8.40288360883e-05,2.75226183362e-05,1793244762344889344
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.964817664,634,880,787,806,652,631,652,0.433689884312,-0.00553979403063,0.049939863508,0.999999990034,0.000111377523237,-8.25200824868e-05,2.67741187558e-05,1793244762361556224
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.374305301,634,880,787,806,652,631,652,0.434606394654,-0.00554256072024,0.0499680575288,0.999999992465,0.000110561849105,-4.40432671016e-05,3.00922843825e-05,1793244762378223104
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806.211862595,652,631,652,0.435485762017,-0.00554265792655,0.0499807954428,0.999999992434,0.000113315013899,-3.51479775548e-05,3.249015874e-05,1793244762394889984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634,880,787,806.790509289,652,631,652,0.436300826273,-0.00553813362837,0.0499667751968,0.999999988973,0.000122246680198,-7.74652769912e-05,3.32947925133e-05,1793244762411556352
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.632630277,745,714,680,660,634,880,787,807,652,631,652,0.437138588211,-0.00553730977221,0.0499615842803,0.999999988658,0.000120859607515,-8.38433263107e-05,3.2348888731e-05,1793244762428222976
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.056783556,745,714,680,660,634,880,787,807,652,631,652,0.437989230706,-0.00553858586358,0.0499614038813,0.999999990645,0.000113616799393,-6.98263690588e-05,3.04095802009e-05,1793244762444889344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.529189252,787,806.470810748,652,631,651.470810748,0.438809849692,-0.00554376777317,0.049978238819,0.999999993338,0.000104834695482,-3.67898042325e-05,3.131371398e-05,1793244762461555968
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.885351682,787,806.114648318,652,631,651.114648318,0.439616871776,-0.00554871977566,0.0499880422168,0.999999994627,9.71520701189e-05,-1.65884231039e-05,3.21140791476e-05,1793244762478222592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.306458555,787,806.693541445,652,631,651.693541445,0.44038213571,-0.00555101062647,0.0499618354256,0.999999993425,9.46034314452e-05,-5.67857424519e-05,3.12346735126e-05,1793244762494889472
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.441129122924,-0.00555034483403,0.0499441692883,0.999999991277,9.64832407626e-05,-8.48480395878e-05,3.06293229229e-05,1793244762511556096
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,807,652,631,652,0.441855550812,-0.00554635314746,0.049936110436,0.999999989274,0.000103344560544,-9.92597872596e-05,3.03322537966e-05,1793244762528222976
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.421180703,714,680.421180703,660,633.578819297,880.421180703,786.578819297,806.578819297,652,631,652,0.442564298784,-0.00554665445363,0.0499327266686,0.999999988756,0.000105784857838,-0.000101632660295,3.11173403625e-05,1793244762544889856
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999632257,714,680.999632257,659.999632257,633,881.000367743,786.000367743,806.000367743,652,630.999632257,652,0.44326633944,-0.00554856425145,0.0499310717298,0.999999988846,0.0001065681357,-9.95379759934e-05,3.23074083385e-05,1793244762561556736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.411036828,714,680.411036828,659.411036828,633,881.588963172,786.588963172,806.588963172,652,630.411036828,652,0.443848434954,-0.00554732557926,0.0498894789247,0.999999978109,0.000109701163567,-0.000175291595161,3.1937616081e-05,1793244762578223104
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.17479395,745,713.82520605,680,659,633,881.82520605,786.82520605,807,652,630.17479395,652,0.444436208009,-0.00554662522209,0.0498473804075,0.999999962889,0.000112584789605,-0.000246113019167,3.12399937654e-05,1793244762594889728
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.754224851,745,713.245775149,680,659,633,881.245775149,786.245775149,807,652,630.754224851,652,0.445037124328,-0.00554717102991,0.04980411119,0.999999946286,0.000114891067778,-0.000305516739498,2.97834657896e-05,1793244762611556352
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.66917606,745,713.33082394,680.33082394,659,632.66917606,881,786.33082394,807,652,631,652,0.445639437863,-0.0055482748769,0.0497899105698,0.999999942858,0.000116847676151,-0.000315801959804,2.99928600835e-05,1793244762628222720
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.094662953,745,713.905337047,680.905337047,659,632.094662953,881,786.905337047,807,652,631,652,0.446242780569,-0.00554978978267,0.0497971222543,0.999999950457,0.000118546713272,-0.000289905858666,3.14293942549e-05,1793244762644889600
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.523717751,659,632,881,786.523717751,807,652,631,652,0.446778791226,-0.00554893817178,0.0497919588824,0.999999948048,0.000122063900078,-0.000296592434554,3.22168847508e-05,1793244762661556480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631.951288755,881,786,807.048711245,652,631,652,0.447295533485,-0.00554755193172,0.0497818509639,0.999999942469,0.00012598636963,-0.000313238932507,3.27160640097e-05,1793244762678223360
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,631.354233204,881,786,807.645766796,652,631,652,0.44774489797,-0.0055454027788,0.0497435639322,0.999999922681,0.000130433477163,-0.000369646857989,3.14110728367e-05,1793244762694889728
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.235207535,659,631,881,786,807.764792465,652,630.764792465,652,0.44819636532,-0.00554610842057,0.0497154967908,0.999999906469,0.000132022606734,-0.000410685445283,3.11381678293e-05,1793244762711556096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.813539612,659,631,881,786,807.186460388,652,630.186460388,652,0.448650900324,-0.00555097868298,0.0497023385936,0.999999898948,0.00012944247208,-0.00042930299079,3.23708869698e-05,1793244762728222720
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.390074066,714,680.609925934,659,631,880.609925934,786,807,652,630,652,0.449083097813,-0.00555345270463,0.0497067253337,0.999999901742,0.000127982321331,-0.00042305660073,3.40567918055e-05,1793244762744889344
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.965753227,714,680.034246773,659,631,880.034246773,786,807,652,630,652,0.449504666702,-0.0055547865471,0.0497194603071,0.999999909278,0.000127055081225,-0.000404979451096,3.59583316226e-05,1793244762761556224
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.447295217,714,680,658.447295217,631,880.552704783,785.447295217,807,652,630,651.447295217,0.449889890026,-0.0055511727985,0.0497326849119,0.999999922293,6.9464294254e-05,-0.000387704720233,1.65508185586e-05,1793244762778222848
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.138343739,714,680,658,630.861656261,880.861656261,785.138343739,807,652,630,651.138343739,0.450259292535,-0.00554996288655,0.049741756178,0.99999992854,2.28018682105e-05,-0.000377355693522,1.61841157252e-06,1793244762794889472
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.717528137,714,680,658,630.282471863,880.282471863,785.717528137,807,652,630,651.717528137,0.450585606861,-0.00555741016475,0.0497374938952,0.999999924109,2.23842337632e-05,-0.000388914107602,5.24118012885e-06,1793244762811556352
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.704244053,714.295755947,680.295755947,658,630,880.295755947,785.704244053,807,652,630,652,0.450889499345,-0.00556183403229,0.049731084667,0.999999917903,2.37121786078e-05,-0.000404441844813,7.64405190631e-06,1793244762828222976
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.126926956,714.873073044,680.873073044,658,630,880.873073044,785.126926956,807,652,630,652,0.451172046104,-0.00556337959722,0.0497226315361,0.999999909823,2.67019237487e-05,-0.000423748396862,8.88557558894e-06,1793244762844889600
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.553067912,681,658,630,880.553067912,785.446932088,807,652,629.553067912,651.553067912,0.451408418426,-0.00556415353965,0.0497081090397,0.999999896898,2.99860626691e-05,-0.00045299245398,1.00913151852e-05,1793244762861556224
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880.020465648,785.979534352,807,652,629,651,0.451630898466,-0.0055645024466,0.0496920606453,0.99999988196,3.3489899915e-05,-0.000484593785215,1.12578923765e-05,1793244762878222592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880.612113935,785.387886065,807,652,629,651,0.451828829373,-0.00555905792657,0.0496811627407,0.999999872181,4.08098825304e-05,-0.000503823780533,1.16129256251e-05,1793244762894889216
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.801956784,880.801956784,785,807,652,629.198043216,651.198043216,0.452024714825,-0.00555458365216,0.0496748595705,0.999999866778,4.70222028805e-05,-0.000513896979061,1.19880644957e-05,1793244762911556096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.226914392,880.226914392,785,807,652,629.773085608,651.773085608,0.452216706486,-0.00555195635804,0.0496773030333,0.999999870325,5.112595354e-05,-0.000506539107268,1.24014768124e-05,1793244762928222720
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.35129424,714,681,657.64870576,629,880.35129424,785,807,652,629.64870576,652,0.452392235662,-0.00555285836395,0.0496809833829,0.9999998745,5.35954191931e-05,-0.000497936841434,1.36449367897e-05,1793244762944889344
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.931566726,714,681,657.068433274,629,880.931566726,785,807,652,629.068433274,652,0.452557034393,-0.00555606081416,0.049685469952,0.999999879041,5.49996366048e-05,-0.000488523462309,1.5429432883e-05,1793244762961555968
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.482691959,714.517308041,681,657,629,881,785,807,652,629.517308041,652,0.452679820915,-0.0055577696419,0.0496838146067,0.999999878582,5.56590963348e-05,-0.000489367233771,1.60326613883e-05,1793244762978222848
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.102540444,714.897459556,681,657,629,880.897459556,785,807,652,629.897459556,652,0.452792304228,-0.00555908822168,0.0496807394043,0.999999876736,5.6082011784e-05,-0.0004930650228,1.6417450686e-05,1793244762994889472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.68200525,714.31799475,681,657,629,880.31799475,785,807,652,629.31799475,652,0.452882991909,-0.00555952053976,0.0496748796954,0.999999871467,5.58678699331e-05,-0.000503658647061,1.65208360962e-05,1793244763011556096
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714.260960569,681,657.260960569,629,880,785,807,652,629,652,0.45296516227,-0.00556004238143,0.049670338667,0.99999986741,5.50822452e-05,-0.000511732125606,1.66044189112e-05,1793244763028222720
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.839296223,681,657.839296223,629,880,785,807,652,629,652,0.453036974029,-0.00556067309987,0.0496674013922,0.999999864914,5.36015942987e-05,-0.000516740652153,1.66639181966e-05,1793244763044889088
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.585393624,745.585393624,714.585393624,681,658,628.585393624,880,785,807.414606376,652,629,652,0.453096872096,-0.00556008571046,0.0496650864875,0.999999863885,5.42245722455e-05,-0.00051867044352,1.64811413405e-05,1793244763061555712
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.011247691,745.011247691,714.011247691,681,658,628.011247691,880,785,807.988752309,652,629,652,0.453152185801,-0.00555902959599,0.0496630110693,0.999999863424,5.56570216584e-05,-0.000519415544721,1.62051371939e-05,1793244763078222336
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.164173792,680.835826208,657,628,881.164173792,785,807,652,629.164173792,651.164173792,0.453219589882,-0.00555779560403,0.0496584468335,0.99999985713,5.93094288127e-05,-0.000531000029297,1.6190428855e-05,1793244763111556096
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.743296667,680.256703333,657,628,881.743296667,785,807,652,629.743296667,651.743296667,0.453245375798,-0.00555694763243,0.0496566501623,0.999999856608,5.90416515482e-05,-0.000532021065362,1.58601025802e-05,1793244763128222976
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.320532764,715,680.320532764,657,628,881.679467236,785,807,652,629.679467236,652,0.4532656529,-0.0055568090947,0.0496553605424,0.999999856089,5.88046253422e-05,-0.000533019008664,1.59350730423e-05,1793244763144889600
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.896266712,715,680.896266712,657,628,881.103733288,785,807,652,629.103733288,652,0.453281544009,-0.00555723539261,0.0496544746254,0.999999855573,5.85920824282e-05,-0.000533998566124,1.63327318751e-05,1793244763161556480
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.470295101,745.529704899,715,681,657,628,880.529704899,785,807,652,629,652,0.453292234153,-0.00555655279211,0.0496542145111,0.999999854904,5.88505719899e-05,-0.000535227804647,1.61106405972e-05,1793244763178222848
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.954618428,745.045381572,715,681.045381572,657,628.045381572,880.045381572,785,807,652,629,652,0.45330132718,-0.00555556882329,0.0496540390851,0.999999854192,5.92450280242e-05,-0.000536523588441,1.57545006126e-05,1793244763194889472
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.77528315,714.77528315,681.77528315,657,628.77528315,880.77528315,785,807,652,629.22471685,652,0.453307885896,-0.00555239714525,0.0496522695276,0.999999852719,6.16214661066e-05,-0.000539008399661,1.52997174865e-05,1793244763228222720
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.458930842,714.541069158,681,657.458930842,628,881.082138316,785,807,652,629,651.541069158,0.453308789625,-0.00555019800446,0.0496472349667,0.999999849106,6.29412164036e-05,-0.000545537297155,1.46513264262e-05,1793244763294889472
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764.806295322,745.806295322,715,681.806295322,657,628.806295322,881,785,807,652,629.193704678,652,0.453311841165,-0.0055458943456,0.0496454901389,0.99999984784,6.47392013565e-05,-0.000547661820454,1.39529757104e-05,1793244763428222464
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.229185506,745.229185506,715,681.229185506,657,628.229185506,881,785,807,652,629.770814494,652,0.453311617815,-0.00554639427179,0.0496453063909,0.999999847715,6.56083862327e-05,-0.000547777888703,1.43125393329e-05,1793244763444888832
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.346178571,745,714.653821429,681,657,628,880.653821429,785,807,652,629.653821429,652,0.453311676611,-0.00554589198471,0.049645165158,0.999999847586,6.63205535318e-05,-0.000547931640302,1.41832543033e-05,1793244763461555712
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.92039267,745,714.07960733,681,657,628,880.07960733,785,807,652,629.07960733,652,0.453311921263,-0.00554472951742,0.0496450519307,0.999999847454,6.69292898247e-05,-0.00054811021476,1.37319537755e-05,1793244763478222336
+244,4.066666667,HOLD_POSE2,765,745,715,681,657,628,880,785,806,652,629,652,0.453314058999,-0.00554335994607,0.0496464187694,0.999999847918,7.28594103624e-05,-0.00054648273483,1.45356988879e-05,1793244763508937216
+245,4.083333333,HOLD_POSE2,764.417468425,745,714.417468425,681,657,628,880,785,806.582531575,652,629,652,0.45331408875,-0.00554301870138,0.049646239429,0.999999847662,7.21460394014e-05,-0.000547047465936,1.45059229104e-05,1793244763525603840
+246,4.100000000,HOLD_POSE2,764.163005589,745.163005589,714,681,657,628,880,785,807,652,629,652,0.453314003434,-0.00554323865971,0.0496462021712,0.999999847498,7.1043069546e-05,-0.000547492449107,1.44727117949e-05,1793244763542270464
+247,4.116666667,HOLD_POSE2,764.73827586,745.73827586,714,681,657,628,880,785,807,652,629,652,0.453313627097,-0.00554487798145,0.0496465242611,0.999999847567,6.8954747658e-05,-0.000547634572574,1.44308127136e-05,1793244763558937088
+248,4.133333333,HOLD_POSE2,765,745.680090944,714.319909056,681,657.319909056,628,880,785,807,652,629.319909056,651.680090944,0.453313495921,-0.00554462659363,0.0496463922942,0.99999984769,6.84701197594e-05,-0.000547475931244,1.41792471759e-05,1793244763575603456
+249,4.150000000,HOLD_POSE2,765,745.093146502,714.906853498,681,657.906853498,628,880,785,807,652,629.906853498,651.093146502,0.453313569388,-0.0055427969873,0.0496458813157,0.999999847862,6.93241319326e-05,-0.000547066234673,1.37526682679e-05,1793244763592270080
+250,4.166666667,HOLD_POSE2,765,745,715,681,657.512590794,628,880.487409206,785,807,652,629.512590794,651.487409206,0.453314743728,-0.00554392147103,0.0496460062454,0.999999848258,6.89268965338e-05,-0.000546379263574,1.42423389703e-05,1793244763608936960
+251,4.183333333,HOLD_POSE2,765,745,714.933358391,680.933358391,657.066641609,628,881,785,807,652,629.066641609,652,0.453315935442,-0.00554530227054,0.0496461995548,0.999999848566,6.85192667413e-05,-0.000545850922798,1.47961273845e-05,1793244763625603584
+252,4.200000000,HOLD_POSE2,765,745,714.355033373,680.355033373,657.644966627,628,881,785,807,652,629.644966627,652,0.453315666104,-0.00554437254516,0.0496459968762,0.999999847883,6.98440701618e-05,-0.000546942157567,1.45151714541e-05,1793244763642270208
+253,4.216666667,HOLD_POSE2,765,745,714,680.221669773,657.778330227,628,881,785,807,652,629.778330227,652,0.453314831408,-0.00554390927786,0.0496456735755,0.999999847201,7.02841099408e-05,-0.000548134453868,1.43920240807e-05,1793244763658936832
+254,4.233333333,HOLD_POSE2,765,745,714,680.795794089,657.204205911,628,881,785,807,652,629.204205911,652,0.453313097795,-0.00554418767818,0.0496451584859,0.999999846524,6.93173769837e-05,-0.000549487437725,1.45197920577e-05,1793244763675603712
+255,4.250000000,HOLD_POSE2,765,745,714,681,657,628,880.620486404,785,807.379513596,652,629,652,0.453313324784,-0.0055428041683,0.0496451708413,0.999999846602,6.98370931718e-05,-0.000549290118581,1.41075196739e-05,1793244763692270592
+256,4.266666667,HOLD_POSE2,765,745,714,681,657,628,880.031470014,785,807.968529986,652,629,652,0.453314634083,-0.00554050323458,0.049645474362,0.999999847095,7.11773734162e-05,-0.000548236986187,1.33971289577e-05,1793244763708937216
+257,4.283333333,HOLD_POSE2,765,745,714.548551555,681,657,628,880,785,807.451448445,652,629,652,0.453312778334,-0.00554302795993,0.0496438874523,0.99999984604,6.78572272891e-05,-0.000550573597665,1.35626582418e-05,1793244763725603840
+258,4.300000000,HOLD_POSE2,765,745.127361774,715,681,657,628,880.127361774,785,807,652,629.127361774,652,0.453311401825,-0.00554494884758,0.0496427450806,0.999999845269,6.54272380514e-05,-0.000552260916748,1.37637891489e-05,1793244763742270464
+259,4.316666667,HOLD_POSE2,765,745.70369169,715,681,657,628,880.70369169,785,807,652,629.70369169,652,0.453312344459,-0.00554378095141,0.0496435459104,0.999999845862,6.70624711241e-05,-0.000550984924919,1.39161371211e-05,1793244763758937088
+260,4.333333333,HOLD_POSE2,765,745.720924622,715,681,657,628,881,785,807,652,629.720924622,652,0.453314024169,-0.00554290533716,0.0496448137138,0.999999846779,6.86173962682e-05,-0.000549124339206,1.3987831316e-05,1793244763775603456
+261,4.350000000,HOLD_POSE2,765,745.146542231,715,681,657,628,881,785,807,652,629.146542231,652,0.453316483825,-0.00554233900464,0.0496465756509,0.999999848036,7.00873425006e-05,-0.000546645158426,1.39741807244e-05,1793244763792270336
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,786,807,652,629,652,0.453313953795,-0.00554396635616,0.049643259923,0.999999846266,6.64954915579e-05,-0.000550319003454,1.39977234329e-05,1793244763824766208
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.420631661,681,657,628,881,785.420631661,807,652,629,652,0.45331444711,-0.00554415870813,0.0496442292978,0.99999984671,6.62188852975e-05,-0.000549540113854,1.41741572293e-05,1793244763841432832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.157489129,681,657,628,881,785.157489129,807,652,629,652,0.453314806791,-0.00554375745011,0.0496448984484,0.9999998469,6.66550584127e-05,-0.00054914188536,1.41417140202e-05,1793244763858099456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.732304201,681,657,628,881,785.732304201,807,652,629,652,0.453314812356,-0.00554178320197,0.0496447720439,0.999999846415,6.89800051617e-05,-0.000549752359674,1.35557736426e-05,1793244763874766080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.314010507,714.685989493,680.685989493,657,628,881,785.685989493,807,652,629,651.685989493,0.453315065783,-0.00554144950343,0.0496445310054,0.999999846423,6.97769237068e-05,-0.00054963836263,1.35047640331e-05,1793244763891432960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.901723419,714.098276581,680.098276581,657,628,881,785.098276581,807,652,629,651.098276581,0.453315535256,-0.00554254576472,0.049644190048,0.999999846864,6.92419599533e-05,-0.000548892891294,1.39200185922e-05,1793244763908099328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.517809772,714.482190228,680,657.482190228,628,880.517809772,785,807,652,629,651.482190228,0.453315273575,-0.00554232357648,0.0496440343462,0.999999846696,6.86675306023e-05,-0.000549275254908,1.37645548193e-05,1793244763924766208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.06113668,715,680.06113668,657.93886332,628,880.06113668,785,807,652,629,652,0.453314317004,-0.00554181400315,0.0496437637819,0.999999846238,6.83217287187e-05,-0.000550158526672,1.35071451353e-05,1793244763941432832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.639530056,715,680.639530056,657.360469944,628,880.639530056,785,807,652,629,652,0.453308723338,-0.00554111282587,0.0496422066804,0.999999844357,6.99773128172e-05,-0.000553363776324,1.33567773924e-05,1793244763958099456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.783661794,715,680.783661794,657,627.783661794,881,785,806.783661794,652,629,652,0.453297067772,-0.00554114984284,0.0496369214437,0.999999839527,7.02991361343e-05,-0.000561987411234,1.31711773588e-05,1793244763974766080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.209475846,715,680.209475846,657,627.209475846,881,785,806.209475846,652,629,652,0.453275385142,-0.00554240791629,0.049625469452,0.999999829623,6.84147688185e-05,-0.000579573664801,1.29272991633e-05,1793244763991432960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.373843333,714.626156667,680.373843333,657,627.373843333,880.626156667,785,806.373843333,652,629,652,0.453238843494,-0.0055412484418,0.0496097539137,0.999999813925,6.7740343032e-05,-0.000606150640131,1.19416922545e-05,1793244764008099584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.962408353,714.037591647,680.962408353,657,627.962408353,880.037591647,785,806.962408353,652,629,652,0.453193767376,-0.00553870041792,0.0495915895518,0.999999794196,6.77608623713e-05,-0.000637891552429,1.0530063966e-05,1793244764024766208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.457568656,714,681,657.542431344,628,880.542431344,784.457568656,807,652,629,651.457568656,0.453126516877,-0.0055368055706,0.0495698573557,0.999999772568,6.91389908472e-05,-0.000670818195484,9.35215526195e-06,1793244764041432832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.878870255,745,714.121129745,681,657.878870255,628,881,784.121129745,807,652,629,651.121129745,0.453056084165,-0.00553465034629,0.0495507410471,0.999999753025,7.12498719055e-05,-0.000699146176462,8.23778908868e-06,1793244764058099456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.302956741,745,714.697043259,681,657.302956741,628,881,784.697043259,807,652,629,651.697043259,0.452979383993,-0.00553135021231,0.0495423600717,0.999999745121,7.57641181239e-05,-0.000709904671644,7.30212406849e-06,1793244764074766336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.272028506,745,715,681,657.272028506,628,881,785,807,652,629,652,0.452898414893,-0.00552719896713,0.0495385959792,0.999999742206,7.89116358273e-05,-0.000713666858208,6.30072704257e-06,1793244764091432960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.845983427,745,715,681,657.845983427,628,881,785,807,652,629,652,0.452812707681,-0.00552210306763,0.0495399561989,0.999999744931,8.05422113546e-05,-0.00070966379041,5.22637364262e-06,1793244764108099584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.567488078,628,880.567488078,785,807,652,629,652,0.452710979595,-0.00551893507441,0.0495437206763,0.999999747741,8.23320949599e-05,-0.000705488037305,5.13154502589e-06,1793244764124766208
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.023193499,628,880,785,807,652.023193499,629,652,0.452601842056,-0.00551640619102,0.0495482019767,0.999999750339,8.42751073216e-05,-0.000701562523339,5.38158548454e-06,1793244764141432832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.602876743,628,880,785,807,652.602876743,629,652,0.452455907349,-0.00551224650223,0.049548725277,0.999999747445,8.84903132415e-05,-0.000705160679339,5.28656811108e-06,1793244764158099456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.819191039,681,658,628,880,785,807,652.819191039,629,652,0.452300870327,-0.00550701936609,0.0495498355903,0.999999745573,9.29576131166e-05,-0.000707240431362,4.80066431198e-06,1793244764174766336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.245067909,681,658,628,880,785,807,652.245067909,629,652,0.452126033038,-0.0054994702097,0.0495522228342,0.999999745964,9.79732930328e-05,-0.000706017195114,3.46446434197e-06,1793244764191433216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.336722994,714.336722994,681,657.663277006,628.336722994,880,785,807,652,629.336722994,651.663277006,0.45193519221,-0.00549268493643,0.0495544430322,0.999999746114,0.000101742986288,-0.000705274639705,2.70167445637e-06,1793244764208099840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.924224628,714.924224628,681,657.075775372,628.924224628,880,785,807,652,629.924224628,651.075775372,0.451732432529,-0.00548646857382,0.0495565388209,0.999999746093,0.000104584716,-0.000704890077206,2.36593872526e-06,1793244764224766208
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.49248867,657.50751133,629,880.50751133,785,807,652,630,651.50751133,0.451490493899,-0.00547977625491,0.0495536050272,0.999999741695,0.000108600918874,-0.000710501976243,1.41087691849e-06,1793244764241432832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.91110744,680.08889256,658,629,881,785,807,652,629.91110744,652,0.451239375153,-0.00547218262163,0.0495510602416,0.999999738567,0.000113701262776,-0.000714099687863,1.82489506639e-07,1793244764258099456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.336724045,680.663275955,658,629,881,785,807,652,629.336724045,652,0.450969804048,-0.00546005133792,0.0495547076378,0.999999746043,0.000123772857738,-0.000701847278714,-2.03780837251e-06,1793244764274766336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.762295668,714.237704332,681,658,629,881,785,807,652,629.237704332,652,0.450686814452,-0.00544900506811,0.049563539469,0.999999759384,0.000131810837651,-0.000681059324582,-4.06936637225e-06,1793244764291433216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.187803593,714.812196407,681,658,629,881,785,807,652,629.812196407,652,0.450384813092,-0.00543949608437,0.0495797167876,0.999999780536,0.000136967520556,-0.000648177914657,-5.83351102912e-06,1793244764308099584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629,880.601303859,785.398696141,807,652,630,652,0.450054104348,-0.00543173018787,0.0495896600348,0.999999792145,0.000140560277482,-0.000629205866414,-7.2836721097e-06,1793244764324766208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,629,880.008972365,785.991027635,807,652,630,652,0.449709453256,-0.00542481085944,0.0495965755708,0.999999799344,0.000143393480011,-0.000616989199839,-8.58134026551e-06,1793244764341433088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.567850518,714.432149482,681,658,629.567850518,880,785.432149482,807,652,630,651.432149482,0.449310121577,-0.005422263284,0.0496001444355,0.999999803467,0.000139392295176,-0.000611166095967,-1.05970422456e-05,1793244764358100224
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.856133581,714,681,658,630,880.143866419,785,807,652,630,651.143866419,0.448898251886,-0.0054206536039,0.049602610333,0.999999806508,0.000134699346252,-0.00060719008082,-1.26223662514e-05,1793244764374767360
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.281818589,714,681,658,630,880.718181411,785,807,652,630,651.718181411,0.448451384836,-0.00542164892709,0.0496019301589,0.999999806565,0.000128251147229,-0.000608446337027,-1.46434361441e-05,1793244764391433472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.300533866,714.300533866,681,658,630,880.699466134,785.300533866,807,652,630,651.699466134,0.447979204387,-0.00542242409959,0.0495982125893,0.999999805937,0.000120496298987,-0.000610990097391,-1.72610768826e-05,1793244764408100352
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.890630441,714.890630441,681,658,630,880.109369559,785.890630441,807,652,630,651.109369559,0.447482634567,-0.00542298715825,0.0495915685061,0.999999804603,0.000111482500727,-0.000614774360968,-2.04535105498e-05,1793244764424767488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.528107825,715,681,658,630,880.471892175,786,806.528107825,652,630.471892175,651,0.446955631751,-0.00541807891262,0.04958784434,0.999999800958,0.000108937368049,-0.000621016539722,-2.3556525809e-05,1793244764441433856
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.949303506,681,658.050696494,630.101392988,881,786,806.050696494,652,630.949303506,651.050696494,0.446420491207,-0.00541211912039,0.0495861947351,0.999999798342,0.00010760905936,-0.000625322802118,-2.65906439902e-05,1793244764458100224
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.375118744,681,658.624881256,631.249762511,881,786,806.624881256,652,630.375118744,651.624881256,0.445872815056,-0.00540815452538,0.0495991073153,0.999999811878,0.000103649151983,-0.000603864712426,-2.91234032061e-05,1793244764474767360
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.799713447,632,880.799713447,786,807,652,630,652,0.445315132692,-0.00540523609635,0.0496234932163,0.999999832633,9.88057267428e-05,-0.000569236302579,-3.06948638934e-05,1793244764491434240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.222008213,632,880.222008213,786,807,652,630,652,0.444738594715,-0.00540428905594,0.0496694993675,0.999999865334,9.22974062522e-05,-0.000509789827308,-3.04548596743e-05,1793244764508100352
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.363151923,680.636848077,658.726303847,632,880.363151923,786,807,652,630.363151923,652,0.44411655136,-0.00540359501739,0.0496971599108,0.999999883486,8.52083281766e-05,-0.000474111362609,-3.14020595196e-05,1793244764524766720
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.952965014,680.047034986,659.905930028,632,880.952965014,786,807,652,630.952965014,652,0.443466105858,-0.00540305888993,0.0497133700465,0.999999893704,7.77567707723e-05,-0.000453267697584,-3.30902524795e-05,1793244764541433088
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.325763324,745.325763324,714,680,659.674236676,633,881,787,806.325763324,652,631,651.674236676,0.43495508734,-0.00538277198575,0.0497961540962,0.999999944919,-1.25448234057e-05,-0.00032531062177,-6.46293963899e-05,1793244764724766976
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.036315934,745,714,680,659,634,880,787,806,652.036315934,631,652,0.421398895081,-0.00535684602193,0.0497967050897,0.999999944613,9.10961514593e-05,-0.000316086648139,-5.06403005452e-05,1793244764974766592
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.816138243,745,714,680,659.367723514,634,879.816138243,787,805.816138243,653,630.816138243,652,0.419648896672,-0.00535932555337,0.0497996591633,0.999999941691,9.05640181052e-05,-0.000325365902357,-5.05313424933e-05,1793244765008100096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.238050953,745,714,680,660.523898093,634,879.238050953,787,805.238050953,653,630.238050953,652,0.418759169131,-0.00535659237951,0.0497955193113,0.999999934796,9.39153630756e-05,-0.000345050454698,-5.02728013151e-05,1793244765024766720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.304882417,634,879,787,805.347558792,652.652441208,630.347558792,652,0.417908652437,-0.00535521820776,0.0497849190076,0.999999928234,9.5436224774e-05,-0.000363033246698,-5.12959171581e-05,1793244765041433344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.123130431,634,879,787,805.938434784,652.061565216,630.938434784,652,0.417085586328,-0.0053547954395,0.0497697959039,0.999999921874,9.56756107964e-05,-0.000379824677732,-5.32162889804e-05,1793244765058100224
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.755184405,745,714,679,659.755184405,634,879,787,806,652.244815595,630.755184405,652,0.413933994605,-0.00535405730126,0.0497973541703,0.999999940414,0.000100478887893,-0.000325983228484,-5.30207552031e-05,1793244765124766464
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.690249691,714,680,660,634,879.309750309,787,805.309750309,653,630.690249691,652,0.403969700602,-0.00537734817611,0.049840339374,0.99999995393,8.4165855254e-05,-0.000286518277819,-5.44399330895e-05,1793244765424766720
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.730934934,714,680,660,634,879,787,805.269065066,653,630.730934934,652,0.403647568971,-0.00537932315988,0.0498527591626,0.999999958308,7.94825084885e-05,-0.000272305890963,-5.39980452436e-05,1793244765441433088
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.153576779,714,680,660,634,879,787,805.846423221,653,630.153576779,652,0.403334998937,-0.00538050333819,0.0498475050238,0.999999954641,7.54355935486e-05,-0.000286417608055,-5.47066641721e-05,1793244765458099712
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.56385165,660.43614835,634,879,787,806,653,630,652,0.403041527052,-0.00538026297569,0.0498344242981,0.999999947323,7.2948381126e-05,-0.000311256046183,-5.61500596964e-05,1793244765474766336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.029413909,660.970586091,634,879,787,805.970586091,652.970586091,630,652,0.402757106582,-0.00537959517461,0.0498187523587,0.999999938202,7.09232760683e-05,-0.000339442616568,-5.78374803759e-05,1793244765491432960
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.605194622,660.394805378,634,879,787,805.394805378,652.394805378,630,652,0.402512256877,-0.00538055009729,0.0498076333971,0.999999932066,6.69826499769e-05,-0.000357613661602,-5.91115107891e-05,1793244765508099584
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.819281701,660,634,879.180718299,787,805.180718299,652.180718299,630,652,0.40228294513,-0.00538062327132,0.0497988838732,0.999999927523,6.48124980495e-05,-0.000370289861868,-6.03172395053e-05,1793244765524766208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.244318838,660,634,879.755681162,787,805.755681162,652.755681162,630,652,0.402087530125,-0.00537877287348,0.0497953033783,0.999999927093,6.65047104816e-05,-0.000370978825176,-6.13739650697e-05,1793244765541432832
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.320495551,787,805.660247776,653,630,652,0.401922544662,-0.00537661478536,0.0497996728111,0.999999930672,7.11102119491e-05,-0.000360395656707,-6.09516338428e-05,1793244765558099456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,878.138892878,787,805.069446439,653,630,652,0.401780044121,-0.00537422933908,0.04980991659,0.999999936896,7.78683959507e-05,-0.000341483304523,-5.94364006794e-05,1793244765574766080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.489203832,745,714,679.510796168,660,634,878.510796168,787.510796168,805,653,630.510796168,652,0.401660730059,-0.00537008109243,0.0498202768991,0.999999937343,0.000134453609234,-0.000323981308977,-4.76666224263e-05,1793244765591432960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.088256449,745,714,679.911743551,660.088256449,634,879,787.911743551,805.088256449,653,630.911743551,652,0.401547362172,-0.0053672585121,0.0498295067058,0.999999934552,0.000185962692311,-0.000308169448574,-3.6693453939e-05,1793244765608099584
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.658207634,745,714,679.341792366,660.658207634,634,879,787.341792366,805.658207634,653,630.341792366,652,0.401449590995,-0.00537295286038,0.0498324816306,0.99999993907,0.000173541918479,-0.000300556827037,-3.75232806451e-05,1793244765624766208
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.762575019,634,879,787,806,653,630.237424981,652,0.401359274509,-0.00537965834323,0.0498341073535,0.999999942449,0.0001613413137,-0.000295987908356,-3.82315177959e-05,1793244765641432832
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.145790506,714,679.145790506,660,634.145790506,879,787,806,653,630,652.145790506,0.401084985712,-0.00539342894572,0.0498390415152,0.999999950301,0.000136312685461,-0.000281391175046,-4.04386033341e-05,1793244765724767488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.718498466,714,679.718498466,660,634.718498466,879,787,806,653,630,652.718498466,0.401060588532,-0.00539343165237,0.0498424358865,0.999999952079,0.000135054770916,-0.000275608474938,-4.05318079566e-05,1793244765741434112
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745.699013846,714,679.699013846,660,634.699013846,879,787,806,653,630.300986154,652.699013846,0.4010383714,-0.00539288554519,0.0498434251704,0.999999952675,0.000135628575358,-0.000273138997147,-4.06155218049e-05,1793244765758100480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745.107072282,714,679.107072282,660,634.107072282,879,787,806,653,630.892927718,652.107072282,0.40101826166,-0.0053918089141,0.0498420895199,0.999999952151,0.000137973054279,-0.00027387232366,-4.06900611834e-05,1793244765774767104
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.053923645,879,787.053923645,806,653,630.053923645,652,0.400994708794,-0.00539177253313,0.0498415027602,0.999999951801,0.000135376568056,-0.000276330518134,-4.13923318616e-05,1793244765808099840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.629005781,879,787.629005781,806,653,630.629005781,652,0.400990826038,-0.00539271364771,0.0498421887535,0.999999952954,0.000133082521532,-0.000273249992333,-4.14085600114e-05,1793244765824766208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.795986139,660,634.795986139,879,787.795986139,806,653,630.795986139,652,0.400988031941,-0.00539388516317,0.0498434266071,0.999999954057,0.000130413066373,-0.000270492329951,-4.13814997348e-05,1793244765841432832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.221112713,660,634.221112713,879,787.221112713,806,653,630.221112713,652,0.40098721683,-0.00539547550488,0.049845667641,0.999999955078,0.000127061187704,-0.000268321573889,-4.12757490836e-05,1793244765858099712
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,630.364274866,652,0.400987186559,-0.00539543964944,0.0498466267079,0.999999955379,0.000128588791093,-0.000266478295237,-4.11890617538e-05,1793244765874766336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787,806,653,630.956234132,652,0.400987646842,-0.00539438736444,0.0498467845011,0.999999955218,0.000133166239787,-0.00026483970138,-4.1114289663e-05,1793244765891433472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.529668822,714,679,660,634,879,787,806,653,631,652,0.400986767606,-0.00539486447152,0.0498471705381,0.999999955817,0.000130427632202,-0.000263901024606,-4.13547194332e-05,1793244765908100352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745.897318028,714,679,660,634,879,787,805.897318028,653,631,652,0.400985792125,-0.00539544762256,0.049847435296,0.999999956301,0.000127890688805,-0.000263282144202,-4.1524332847e-05,1793244765924766976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745.319411283,714,679,660,634,879,787,805.319411283,653,631,652,0.400984866158,-0.00539595645761,0.0498470544247,0.999999956012,0.000128990307158,-0.000263884706236,-4.12497343982e-05,1793244765941433344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.264939069,634,879,787,805.264939069,653,630.735060931,652,0.400984131697,-0.00539575295951,0.0498466672174,0.999999955805,0.000129877255607,-0.000264233613688,-4.12688610661e-05,1793244765958099968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.857251575,634,879,787,805.857251575,653,630.142748425,652,0.400983633872,-0.00539466926305,0.049846272181,0.999999955698,0.000130501417452,-0.000264269091522,-4.16509307752e-05,1793244765974766336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.563461831,745.436538169,714,679,660.563461831,634,879,787,806,653,630,652,0.400984313713,-0.00539458002374,0.0498473821968,0.999999956198,0.000129795338712,-0.000262705310011,-4.17493687065e-05,1793244765991433216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.011777406,745.988222594,714,679.011777406,660.011777406,634,879,787,805.988222594,652.988222594,630.011777406,652,0.400985335132,-0.0053948229039,0.0498489275327,0.99999995687,0.000128669796527,-0.000260690297011,-4.17582433665e-05,1793244766008099840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.59129488,745.40870512,714,679.59129488,660.59129488,634,879,787,805.40870512,652.40870512,630.59129488,652,0.400984796517,-0.00539585410246,0.0498484205784,0.999999956809,0.00012768515402,-0.000261402545814,-4.17910899172e-05,1793244766024766720
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.8305509,634,879,787,805.1694491,652.1694491,630.8305509,652,0.400984737795,-0.00539622292893,0.0498482981228,0.99999995679,0.0001276292676,-0.000261499502004,-4.18115502031e-05,1793244766041433344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.255658596,634,879,787,805.744341404,652.744341404,630.255658596,652,0.40098582732,-0.00539500688844,0.0498490956627,0.999999956871,0.000129795628777,-0.00026012423901,-4.18023736995e-05,1793244766058099968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.671736727,660.328263273,634.328263273,879,787,806,653,630,652,0.400985423318,-0.00539485189575,0.049849147895,0.999999956863,0.000130548032075,-0.00025979664221,-4.16693029528e-05,1793244766074766336
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.080583552,660.919416448,634.919416448,879,787,806,653,630,652,0.400983823223,-0.00539554664408,0.0498486032471,0.999999956789,0.000130168065979,-0.000260308069782,-4.14370114036e-05,1793244766091432704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.49954152,660.50045848,635,879,787,806,653,630,652.49954152,0.400985892481,-0.00539605641182,0.049850067662,0.999999957424,0.000129098833257,-0.000258444949901,-4.11302483325e-05,1793244766108099584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.922554806,660.077445194,634.922554806,879,787,805.922554806,653,630,652.922554806,0.400988077969,-0.00539658923083,0.0498515259384,0.999999958085,0.000127831996044,-0.000256546019798,-4.08958843424e-05,1793244766124766208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.347739358,660.652260642,634.347739358,879,787,805.347739358,653,630,652.347739358,0.400987290573,-0.0053974575907,0.0498509083565,0.999999958235,0.000125994756398,-0.000256824007111,-4.12019695911e-05,1793244766141432832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.773106532,634,879,787,805,653,630.226893468,652,0.400986195844,-0.00539767403689,0.0498501449637,0.999999958074,0.00012518939857,-0.000257799201811,-4.145992348e-05,1793244766158099456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.198753284,634,879,787,805,653,630.801246716,652,0.400984630473,-0.00539689215663,0.0498491582792,0.99999995744,0.0001259642421,-0.00025984208496,-4.1644170085e-05,1793244766174766080
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.388065859,879,787,805.388065859,653,631,652,0.40098424127,-0.00539657822712,0.0498489052401,0.999999957312,0.000126328880894,-0.000260130855823,-4.18137580728e-05,1793244766191432704
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.981481445,879,787,805.981481445,653,631,652,0.400984474451,-0.00539651191945,0.0498490404184,0.999999957453,0.000126476454861,-0.000259491416901,-4.19755892655e-05,1793244766208099328
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7d5f557fa99e3a5d0f6d56fddc4d500cbda7947
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+1,0.016666667,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+2,0.033333333,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+3,0.050000000,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+4,0.066666667,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
+5,0.083333333,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
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+17,0.283333333,pose1_baseline,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
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+382,6.366666667,pose2_to_pose3_retreat,0.575677518623,-0.000122288810113,1.04005098029,0.546249152546,0.00855339966926,1.03971747866
+383,6.383333333,pose2_to_pose3_retreat,0.575675074368,-0.000122165733957,1.04005112664,0.546246707487,0.0085535198969,1.03971762185
+384,6.400000000,pose2_to_pose3_retreat,0.57567413921,-0.000122108517825,1.04005118996,0.546245771965,0.00855357581532,1.03971768363
+385,6.416666667,pose2_to_pose3_retreat,0.575673601785,-0.000122075636296,1.04005122635,0.546245234329,0.00855360795107,1.03971771914
+386,6.433333333,pose2_to_pose3_retreat,0.575673305184,-0.000122057489244,1.04005124643,0.546244937612,0.00855362568653,1.03971773873
+387,6.450000000,pose2_to_pose3_retreat,0.575672994158,-0.000122043673508,1.04005125511,0.546244626522,0.00855363927688,1.03971774718
+388,6.466666667,pose2_to_pose3_retreat,0.575672592099,-0.000122069721291,1.040051162,0.546244224866,0.0085536146743,1.03971765617
+389,6.483333333,pose2_to_pose3_retreat,0.575672063942,-0.000122103938539,1.04005103969,0.546243697237,0.00855358235553,1.03971753662
+390,6.500000000,pose2_to_pose3_retreat,0.575671740978,-0.000122124862061,1.0400509649,0.546243374597,0.00855356259291,1.03971746352
+391,6.516666667,pose2_to_pose3_retreat,0.575671680832,-0.000122128758687,1.04005095097,0.546243314511,0.00855355891248,1.03971744991
+392,6.533333333,pose2_to_pose3_retreat,0.575671671667,-0.000122129352492,1.04005094885,0.546243305355,0.00855355835162,1.03971744783
+393,6.550000000,pose2_to_pose3_retreat,0.575671591896,-0.000122134520487,1.04005093038,0.546243225664,0.00855355347036,1.03971742978
+394,6.566666667,pose2_to_pose3_retreat,0.575671303211,-0.000122153223282,1.04005086352,0.546242937268,0.00855353580526,1.03971736443
+395,6.583333333,pose2_to_pose3_retreat,0.575671157173,-0.000122162684511,1.04005082971,0.546242791376,0.00855352686896,1.03971733138
+396,6.600000000,pose2_to_pose3_retreat,0.575670958186,-0.000122175576052,1.04005078363,0.546242592588,0.00855351469269,1.03971728634
+397,6.616666667,pose2_to_pose3_retreat,0.575670813944,-0.000122184920969,1.04005075022,0.54624244849,0.00855350586625,1.03971725369
+398,6.633333333,pose2_to_pose3_retreat,0.575670476331,-0.000122247385648,1.04005074022,0.546242111174,0.00855344426408,1.03971723994
+399,6.650000000,pose2_to_pose3_retreat,0.57567034883,-0.000122281546932,1.0400507542,0.546241983774,0.0085534103371,1.03971725106
+400,6.666666667,pose2_to_pose3_retreat,0.575670281516,-0.000122299582418,1.04005076159,0.546241916514,0.00855339242531,1.03971725694
+401,6.683333333,pose2_to_pose3_retreat,0.575670211176,-0.000122318428576,1.0400507693,0.54624184623,0.00855337370842,1.03971726308
+402,6.700000000,pose2_to_pose3_retreat,0.575670067297,-0.00012235697795,1.04005078508,0.546241702466,0.00855333542344,1.03971727563
+403,6.716666667,pose2_to_pose3_retreat,0.575669733257,-0.000122361390574,1.04005083153,0.546241368237,0.00855333034604,1.03971732147
+404,6.733333333,pose2_to_pose3_retreat,0.575669457844,-0.000122267144035,1.04005087592,0.546241092147,0.00855342256633,1.03971737281
+405,6.750000000,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b42fc031e5b15c87a501d98c271f6fd487aea150
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e5cd02f1406b28e01690947720f85c1689aee9621b5a0e38cc2e1f7c183e3d
+size 31406482
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..939534090cac9105fcb1adf42f6bc1d8114aebd9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,497 @@
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+1,0.016666667,BASELINE,765,745,714,679,660,634.574594685,879,787,806,653,630.425405315,652,0.400985513951,-0.00539647102247,0.049850904524,0.9999999579,0.00012750784765,-0.000257343570613,-4.14305207897e-05,1793244766340189952
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+18,0.300000000,BASELINE,765,745.556108826,714,679.556108826,660,634,879,787,806,653,631,653,0.400987609061,-0.00539469668372,0.0498523369736,0.999999958679,0.000129052165404,-0.000253464089189,-4.17585627502e-05,1793244766623523328
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+20,0.333333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.402235195,652.402235195,0.400986392811,-0.00539599586382,0.0498524100058,0.999999958773,0.000127677744478,-0.00025384818841,-4.13889676507e-05,1793244766656856832
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+22,0.366666667,BASELINE,765,745,713.23639649,679,660,634,879,787,805.23639649,653,630,652,0.400986084913,-0.00539530943284,0.0498524681781,0.999999958377,0.000130756630008,-0.000253843656533,-4.13763521711e-05,1793244766690190336
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+28,0.466666667,BASELINE,764,745,714,679.765113108,660.234886892,634,879,787,806,653,631,652,0.400985537489,-0.00539636852997,0.0498523652374,0.999999958805,0.000126838889254,-0.000254198756091,-4.10500278729e-05,1793244766790190336
+29,0.483333333,BASELINE,764,745,714,679.175742015,660.824257985,634,879,787,806,653,631,652,0.400985119961,-0.00539748607977,0.049852547453,0.999999958986,0.000125346787755,-0.000254224520768,-4.10607095685e-05,1793244766806856960
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+40,0.666666667,BASELINE,765,745,714,680,660,634,878.800490493,787,806,653,630.800490493,652,0.400986818637,-0.00539597749674,0.0498530259316,0.999999958866,0.00012909056914,-0.000252764898241,-4.14026712408e-05,1793244766990190080
+41,0.683333333,BASELINE,765,745,714,680,660,634,878.213104452,787,806,653,630.213104452,652,0.400985487617,-0.00539731662079,0.0498520026836,0.999999958652,0.00012706484752,-0.00025465854279,-4.12139309505e-05,1793244767006856704
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+45,0.750000000,BASELINE,765,745,714,679.897877799,660,634,879,787,805.897877799,653,630.102122201,652,0.400985339098,-0.00539667494624,0.0498530610304,0.99999995891,0.000127975252632,-0.000253172493892,-4.13131349964e-05,1793244767073524992
+46,0.766666667,BASELINE,765,745,714,679.322742598,660,634,879,787,805.322742598,653,630.677257402,652,0.400986023479,-0.00539755561957,0.0498536608239,0.999999959085,0.000127846392919,-0.000252597636888,-4.09895503495e-05,1793244767090191360
+47,0.783333333,BASELINE,765,745,714,679.260326432,660.260326432,634,879,787,805.260326432,653,630.739673568,652,0.400986339908,-0.0053984416754,0.0498539859288,0.999999959266,0.000126808008267,-0.000252433191608,-4.08046062283e-05,1793244767106857728
+48,0.800000000,BASELINE,765,745,714,679.853540788,660.853540788,634,879,787,805.853540788,653,630.146459212,652,0.400986185827,-0.00539933461411,0.0498539597806,0.999999959452,0.000124606584306,-0.000252793553145,-4.07969462381e-05,1793244767123524096
+49,0.816666667,BASELINE,765,745.434134362,714,680,660.565865638,634,879,787,806,653,630,652,0.400986933938,-0.00539926189559,0.0498538415844,0.999999959436,0.000125719900154,-0.000252291991817,-4.08818632855e-05,1793244767140190464
+50,0.833333333,BASELINE,765,745.989438085,714,680,660,634,879.010561915,787,806,653,630,652.010561915,0.400987949805,-0.00539885499119,0.0498536970891,0.999999959352,0.000127878584642,-0.000251517992763,-4.10009059389e-05,1793244767156857088
+51,0.850000000,BASELINE,765,745.414534839,714,680,660,634,879.585465161,787,806,653,630,652.585465161,0.40098746916,-0.00539750685309,0.0498537597344,0.999999959404,0.000127830621123,-0.000251285010341,-4.1321717049e-05,1793244767173523968
+52,0.866666667,BASELINE,765,745.16441905,714,679.83558095,660,634,879.83558095,787,806,653,630.16441905,652.83558095,0.400987122969,-0.00539677800057,0.0498538967538,0.999999959467,0.000127800687058,-0.000251030380188,-4.14369362664e-05,1793244767190190592
+53,0.883333333,BASELINE,765,745.753843377,714,679.246156623,660,634,879.246156623,787,806,653,630.753843377,652.246156623,0.400987124327,-0.00539764993369,0.0498542260218,0.99999995956,0.000127817357169,-0.000250719793031,-4.10207228898e-05,1793244767206857472
+54,0.900000000,BASELINE,765,745.662611936,714,679,660.337388064,634,879,787.337388064,806,653,631,652,0.400987331748,-0.00539785444668,0.0498544570863,0.999999959603,0.000127530187259,-0.000250707297973,-4.0946879642e-05,1793244767223524352
+55,0.916666667,BASELINE,765,745.083283552,714,679,660.916716448,634,879,787.916716448,806,653,631,652,0.400987686935,-0.00539758035398,0.0498546177292,0.999999959609,0.000127025134263,-0.000250908564189,-4.11185493608e-05,1793244767240191232
+56,0.933333333,BASELINE,765,745,714,679,660.50719463,634,879,787.50719463,806,653,631,652,0.40098803921,-0.00539818162517,0.0498547565117,0.99999995974,0.000127483712885,-0.000250200590338,-4.08311617128e-05,1793244767256857344
+57,0.950000000,BASELINE,765,745,714,679.068200758,660,634,879,787,806,653,631,652,0.400988157106,-0.00539885331204,0.0498547243433,0.999999959828,0.000127803089875,-0.000249732231195,-4.05367862903e-05,1793244767273523968
+58,0.966666667,BASELINE,765,745,714,679.642485413,660,634,879,787,806,653,631,652,0.400986539427,-0.00539895693154,0.0498534508681,0.999999959449,0.000125888963825,-0.000252174726098,-4.07624826085e-05,1793244767290190592
+59,0.983333333,BASELINE,765,745,714,679.776674758,660,634,879,787,806,653,631,652,0.40098567026,-0.00539914073539,0.0498527158484,0.99999995933,0.000124368552169,-0.000253361525175,-4.09862915115e-05,1793244767306856960
+60,1.000000000,BASELINE,765,745,714,679.185023516,660,634,879,787,806,653,631,652,0.400986035599,-0.00539945678577,0.0498528688927,0.999999959653,0.000123497485746,-0.000252477329805,-4.12069875737e-05,1793244767323523840
+61,1.016666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630.602925998,652,0.40098640324,-0.00539921421237,0.049852801995,0.999999959658,0.000124049470253,-0.000252187393959,-4.11962869246e-05,1793244767340190720
+62,1.033333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630.025175646,652,0.400986771928,-0.00539871745431,0.0498526350195,0.999999959518,0.000125248970507,-0.000252167857744,-4.1080296283e-05,1793244767356857856
+63,1.050000000,BASELINE,765,745,714,679.550794824,660,634,878.449205176,787,806,653,630.550794824,652,0.400986338776,-0.00539822734157,0.0498533136995,0.999999959446,0.00012619045223,-0.000251978329252,-4.1130824796e-05,1793244767373524736
+64,1.066666667,BASELINE,765,745,714,680,660,634.129269342,878.129269342,787,805.870730658,653,630.870730658,652,0.400986118332,-0.00539770743183,0.0498540386618,0.999999959493,0.000126645821316,-0.000251546645176,-4.12192532984e-05,1793244767390191104
+65,1.083333333,BASELINE,765,745,714,680,660,634.71691039,878.71691039,787,805.28308961,653,630.28308961,652,0.400986781661,-0.00539708079238,0.049854791117,0.999999959956,0.000125419183665,-0.00025028377253,-4.14151685904e-05,1793244767406857728
+66,1.100000000,BASELINE,765,745,714,680,660,634.69972269,879,787,805.30027731,653,630.30027731,652,0.40098762454,-0.00539751071759,0.0498550925332,0.999999960273,0.00012466463622,-0.000249416677196,-4.12706902015e-05,1793244767423524352
+67,1.116666667,BASELINE,765,745,714,680,660,634.120328732,879,787,805.879671268,653,630.879671268,652,0.400988634314,-0.00539892275095,0.0498549746951,0.999999960456,0.000124348910668,-0.000248917468663,-4.08098057976e-05,1793244767440190976
+68,1.133333333,BASELINE,765.456798405,745,714,680,660,634,879,787,806,653,631,652,0.40098844262,-0.0053985455277,0.0498546207905,0.999999960264,0.000124848649372,-0.00024940490911,-4.1000712251e-05,1793244767456857600
+69,1.150000000,BASELINE,765.966768849,745.033231151,714,679.966768849,660.033231151,634.033231151,879,787,805.966768849,653,630.966768849,652,0.40098794873,-0.00539773208021,0.0498542538014,0.999999959987,0.000125549956498,-0.000250108374869,-4.1328606214e-05,1793244767473524480
+70,1.166666667,BASELINE,765.391970073,745.608029927,714,679.391970073,660.608029927,634.608029927,879,787,805.391970073,653,630.391970073,652,0.400987662278,-0.0053974526873,0.0498546819851,0.999999959931,0.000126052789883,-0.000250117718259,-4.11047186829e-05,1793244767490190848
+71,1.183333333,BASELINE,765,745.812065721,714,679,661,635,879,787,805,653,630.187934279,652,0.400986808256,-0.00539759164108,0.0498545137649,0.999999959716,0.000126177916364,-0.000250939786891,-4.09553265526e-05,1793244767506857472
+72,1.200000000,BASELINE,765,745.221215311,714,679,661,635,879,787,805,653,630.778784689,652,0.400984737409,-0.0053986274968,0.0498530669023,0.999999959154,0.000125493269416,-0.000253504273728,-4.09656465873e-05,1793244767523524096
+73,1.216666667,BASELINE,765,745.362408382,714,679.362408382,661,634.637591618,879,787,805,653,631,652,0.400985256648,-0.00539755991394,0.0498532540934,0.999999959086,0.000127556068459,-0.000252736177529,-4.10079169142e-05,1793244767540190720
+74,1.233333333,BASELINE,765,745.941707071,714,679.941707071,661,634.058292929,879,787,805,653,631,652,0.400987325975,-0.00539523348751,0.0498544192157,0.999999959298,0.000131263129741,-0.000249973632391,-4.10693085103e-05,1793244767556857344
+75,1.250000000,BASELINE,765,745.482969532,714,679.482969532,660.482969532,634,879,787,805.517030468,653,631,652,0.400986055634,-0.00539629503211,0.0498536153512,0.999999959349,0.000128285651396,-0.000251292441749,-4.11870966504e-05,1793244767573523712
+76,1.266666667,BASELINE,765,745.093880447,714,679.093880447,660.093880447,634,879,787.093880447,806,653,631,652,0.400984931184,-0.00539770492028,0.0498528656207,0.999999959448,0.000124974775727,-0.000252552716687,-4.12541970299e-05,1793244767590190336
+77,1.283333333,BASELINE,765,745.681089629,714,679.681089629,660.681089629,634,879,787.681089629,806,653,631,652,0.400986536902,-0.00539895337455,0.0498535580069,0.999999959963,0.000123842066233,-0.000251105800881,-4.10217823483e-05,1793244767606856704
+78,1.300000000,BASELINE,765,746,714,680,661,634,879,787.735343611,806,653,630.735343611,652,0.40098679214,-0.00539940204958,0.0498535412649,0.999999959907,0.000124004638544,-0.000251289677059,-4.07724781306e-05,1793244767623523584
+79,1.316666667,BASELINE,765,746,714,680,661,634,879,787.156106414,806,653,630.156106414,652,0.400985442148,-0.00539890007601,0.0498526816255,0.99999995917,0.000125706832921,-0.000253411975685,-4.05030983747e-05,1793244767640190208
+80,1.333333333,BASELINE,764.578383941,745.578383941,714,680,661,634,879,787,806,653,630,652,0.400985969169,-0.00539836886111,0.0498530304172,0.999999959227,0.00012660234374,-0.000252735116174,-4.05435580819e-05,1793244767656857344
+81,1.350000000,BASELINE,764.001220251,745.001220251,714,680,661,634,879,787,806,653,630,652,0.400987188681,-0.00539782685811,0.0498538250377,0.999999959575,0.000127200243367,-0.000251025557988,-4.06983274418e-05,1793244767673524480
+82,1.366666667,BASELINE,764.57288162,745,714,679.42711838,660.42711838,634.57288162,879,787,806,653,630.57288162,652,0.400986595374,-0.00539702601887,0.0498540258199,0.999999959467,0.000128036810323,-0.000251000096086,-4.08856158361e-05,1793244767690190848
+83,1.383333333,BASELINE,765,745,714,679.151193101,660,634.848806899,878.848806899,787,806,653,631,652,0.400986125752,-0.00539685646185,0.0498540439616,0.999999959414,0.000128339701936,-0.000251042737988,-4.09725292313e-05,1793244767706856960
+84,1.400000000,BASELINE,765,745,714,679.741756791,660,634.258243209,878.258243209,787,806,653,631,652,0.400986026726,-0.0053985230188,0.0498535350022,0.999999959524,0.000127090251596,-0.000251272922129,-4.07675504213e-05,1793244767723523584
+85,1.416666667,BASELINE,765,745,714,679.674194582,660,634,878.651610835,787.325805418,805.674194582,652.674194582,630.674194582,652,0.400986363551,-0.00539812976777,0.0498536629012,0.999999959609,0.000127183481983,-0.00025085449236,-4.09735883083e-05,1793244767740190464
+86,1.433333333,BASELINE,765,745,714,679.095208787,660,634,879.809582426,787.904791213,805.095208787,652.095208787,630.095208787,652,0.400987039072,-0.0053961358589,0.0498542856971,0.999999959673,0.000128320097225,-0.000249932030702,-4.14990234823e-05,1793244767756857344
+87,1.450000000,BASELINE,765.479672891,745,714,679,660.479672891,634,880,787.520327109,805.479672891,652.479672891,630.479672891,652,0.400986969504,-0.00539747642414,0.04985406807,0.999999959827,0.00012633095542,-0.000250396049499,-4.10787890663e-05,1793244767773523968
+88,1.466666667,BASELINE,765.946509217,745,714,679,660.946509217,634,879.893018434,787,806,653,630.946509217,652,0.400986748056,-0.00539915122803,0.0498536808913,0.999999959949,0.000124084706343,-0.000251113339725,-4.0571943743e-05,1793244767790190592
+89,1.483333333,BASELINE,765.37517045,745,714,679,660.37517045,634,878.750340901,787,806,653,630.37517045,652,0.400986475821,-0.0053977087665,0.0498532534993,0.999999959646,0.000125304775893,-0.000251640957125,-4.10283623296e-05,1793244767806857472
+90,1.500000000,BASELINE,765,745,714,679,660.204868901,634.204868901,878.204868901,787,806,653,630.204868901,652,0.400985603428,-0.00539688190312,0.0498526758061,0.999999959254,0.000126524764565,-0.00025253830688,-4.13157718917e-05,1793244767823524096
+91,1.516666667,BASELINE,765,745,714,679,660.801547988,634.801547988,878.801547988,787,806,653,630.801547988,652,0.400983583235,-0.00539723236661,0.049851810663,0.999999958694,0.00012774459842,-0.000254142766839,-4.12799529518e-05,1793244767840190464
+92,1.533333333,BASELINE,765,745,714,679,660.613505829,635,879,787,806,653,630.613505829,652,0.400984016289,-0.00539733812781,0.0498525139015,0.999999958985,0.000126850515854,-0.000253444219881,-4.12810848162e-05,1793244767856857088
+93,1.550000000,BASELINE,765,745,714,679,660.034406557,635,879,787,806,653,630.034406557,652,0.400985671892,-0.00539732194435,0.0498539987255,0.999999959696,0.000124902986493,-0.000251597995005,-4.13006307025e-05,1793244767873523712
+94,1.566666667,BASELINE,765,745,714,679.540485074,660,635,879.540485074,787,806,653,630.540485074,652,0.400986196208,-0.00539853791517,0.0498542843459,0.999999959747,0.000126191956846,-0.00025082966627,-4.08194233338e-05,1793244767890190080
+95,1.583333333,BASELINE,765,745,714,680,660,634.882264272,879.882264272,787,806,652.882264272,631,652,0.400986442061,-0.00539944741258,0.0498543129987,0.999999959712,0.000127331135407,-0.000250452159581,-4.0463994763e-05,1793244767906856960
+96,1.600000000,BASELINE,765,745,714,680,660,634.294535387,879.294535387,787,806,652.294535387,631,652,0.400985861578,-0.00539882279135,0.0498536182432,0.999999959507,0.00012705624601,-0.000251362987928,-4.07369355753e-05,1793244767923523840
+97,1.616666667,BASELINE,765,745.288807721,714,679.711192279,660,634,879,787,805.711192279,652.288807721,630.711192279,652,0.400984510061,-0.0053984595422,0.0498524833217,0.99999995918,0.000126344056871,-0.000252989451758,-4.09009674339e-05,1793244767940190976
+98,1.633333333,BASELINE,765,745.867744947,714,679.132255053,660,634,879,787,805.132255053,652.867744947,630.132255053,652,0.400982383981,-0.0053983588614,0.0498509062198,0.999999958727,0.000125192566619,-0.000255334826257,-4.09555918797e-05,1793244767956858368
+99,1.650000000,BASELINE,765,745.554746597,714,679,660,634,879.445253403,787,805.445253403,653,630.445253403,652,0.400984539817,-0.00539807639587,0.0498525238622,0.999999959385,0.000125148094833,-0.000252764677182,-4.09622731785e-05,1793244767973524480
+100,1.666666667,BASELINE,765,745,714,679.022184149,660.022184149,634,880,787,806,653,631,652.022184149,0.400987772742,-0.00539775866778,0.0498549633172,0.999999960303,0.000125447083131,-0.000248957420113,-4.09573503647e-05,1793244767990190336
+101,1.683333333,BASELINE,765,745,714,679.595274017,660.595274017,634,880,787,806,653,631,652.595274017,0.400986269587,-0.00539790186633,0.0498543210257,0.999999959811,0.000126135720946,-0.000250571162261,-4.10167717457e-05,1793244768006856960
+102,1.700000000,BASELINE,765,745,714,680,661,634.173896208,879.826103792,787,806,653,631,652.826103792,0.400985407173,-0.00539809947267,0.0498539558034,0.999999959544,0.000126403037132,-0.000251490699877,-4.10660647767e-05,1793244768023523840
+103,1.716666667,BASELINE,765,745,714,680,661,634.765817337,879.234182663,787,806,653,631,652.234182663,0.400986085021,-0.00539842786856,0.0498542566214,0.999999959825,0.000125657548262,-0.000250741455646,-4.10910105019e-05,1793244768040190464
+104,1.733333333,BASELINE,765,745,714,679.649922349,660.649922349,634.649922349,879,787,806,653,631,652.350077651,0.400986908484,-0.00539840014387,0.0498551385449,0.999999960182,0.000125883050691,-0.000249217580089,-4.0979106177e-05,1793244768056857088
+105,1.750000000,BASELINE,765,745,714,679.070676899,660.070676899,634.070676899,879,787,806,653,631,652.929323101,0.40098782727,-0.0053981392956,0.0498564008715,0.999999960586,0.000126744183281,-0.000247186615369,-4.07776170872e-05,1793244768073523712
+106,1.766666667,BASELINE,765,745,714,679,660,634,879,787,806.504446748,653,631,652.495553252,0.40098704551,-0.0053983115373,0.0498547682486,0.999999960287,0.000125007600645,-0.000249238272898,-4.09827882197e-05,1793244768090190848
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,662,634,879,787,806,653,631,652,0.400984910425,-0.00539669052968,0.0498537639641,0.999999959418,0.000126263439806,-0.000251953970621,-4.17291734526e-05,1793244768132951808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420594943,745,714,680,660.841189886,634,879,787.579405057,806,653,631,652.579405057,0.400984844257,-0.00539818856365,0.0498531220498,0.99999995925,0.000126571682481,-0.000252607689993,-4.08452013612e-05,1793244768149618432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.158531184,745,714,679.841468816,660.158531184,634,878.841468816,787.841468816,806,653,631,652.841468816,0.400985072174,-0.00539902762968,0.0498528606765,0.999999959294,0.000126590374171,-0.000252510271452,-4.03182229317e-05,1793244768166284800
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.736918714,745,714,679.263081286,660.736918714,634,878.263081286,787.263081286,806,653,631,652.263081286,0.40098607895,-0.00539812147555,0.0498536071331,0.999999959896,0.000125842214795,-0.000250423528223,-4.07367116374e-05,1793244768182950656
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,878.313231653,787,806,653,631,652,0.400986306429,-0.00539857370772,0.049853930338,0.999999960177,0.000124937485212,-0.000249749889097,-4.07687571174e-05,1793244768199616768
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,878.887813586,787,806,653,631,652,0.400985883687,-0.00540015933317,0.0498539003954,0.999999960191,0.000123902118596,-0.000250255298099,-4.04783669418e-05,1793244768216283648
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787,806,653,631,652,0.400986008319,-0.00539839257725,0.049854157795,0.999999959949,0.000125926134691,-0.000250156538941,-4.08132277576e-05,1793244768232950528
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.938879702,634,879,787,806,653,631,652,0.400986265556,-0.00539626194516,0.0498543796668,0.99999995968,0.000128072034369,-0.000250073098154,-4.12359291879e-05,1793244768249617408
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.359780062,634,879,787,806,653,631,652,0.400986521116,-0.00539794053332,0.0498537096319,0.999999959756,0.000124960334448,-0.00025136173378,-4.11174516619e-05,1793244768266284032
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.21670934,660,634,879,787,806,653,631,652,0.40099311397,-0.005398596606,0.0498562466925,0.999999961056,0.000123804327062,-0.000246760585741,-4.0863674016e-05,1793244768282950400
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.788916752,660,634,879,787,806,653,631,652,0.401010102757,-0.00539757530605,0.0498640447923,0.999999964237,0.00012585651085,-0.000232497617029,-4.03879450197e-05,1793244768299617024
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.63554132,660,634,878.63554132,787,806,653,630.63554132,652,0.401043426882,-0.00539854017431,0.0498772907294,0.999999970003,0.000125519692362,-0.00020656326936,-3.96209643831e-05,1793244768316283648
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.058050255,660,634,878.058050255,787,806,653,630.058050255,652,0.401086299295,-0.00540066599203,0.0498937210221,0.999999976486,0.000123786460941,-0.000173806797898,-3.86837420637e-05,1793244768332950272
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.467252311,745,714,679,660,634,878.532747689,787,806,653,630.532747689,652,0.401152533661,-0.00540306585998,0.0499134991112,0.999999982929,0.000123581474918,-0.000132191961001,-3.73608572325e-05,1793244768349617152
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.121950476,745,714,679,660.121950476,634,879,787,806,653,631,652,0.401222563832,-0.00540553112359,0.0499319936551,0.999999987119,0.000123330295463,-9.62489192957e-05,-3.58782038558e-05,1793244768366283776
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.69963486,745,714,679,660.69963486,634,879,787,806,653,631,652,0.401297022353,-0.00540812632143,0.0499442933904,0.999999988319,0.000122268242598,-8.52011513733e-05,-3.39595545181e-05,1793244768382950656
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.72428654,634,879,787,806,653,631,652,0.401376783189,-0.00541146310849,0.0499519037302,0.999999989246,0.000120766969217,-7.65115082375e-05,-3.26878146238e-05,1793244768399617280
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.1499472,634,879,787,806,653,631,652,0.401462286969,-0.00541560311237,0.0499544349742,0.999999989952,0.000118789975164,-7.03759561182e-05,-3.21167439439e-05,1793244768416283648
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.562119126,653,630.562119126,652,0.401564696493,-0.00541964618545,0.049953849638,0.999999990104,0.000116602100599,-7.22290650829e-05,-3.12964823893e-05,1793244768432950272
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.029698888,660,634,879,787,805.029698888,653,630,652,0.401674406585,-0.00542369369942,0.049952243229,0.999999990053,0.000114337440464,-7.67901087308e-05,-3.03922463159e-05,1793244768449616896
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.607204765,660,634,879,787,805.607204765,653,630,652,0.40180860095,-0.00542845484219,0.0499521140073,0.999999990148,0.000112030783461,-7.92366266457e-05,-2.95630857423e-05,1793244768466283776
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.184211431,878.815788569,787,806,653,630.184211431,652,0.401953669225,-0.00543337867081,0.0499524887958,0.999999990335,0.000109657332121,-8.05541654387e-05,-2.8558894113e-05,1793244768482950400
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.76015643,878.23984357,787,806,653,630.76015643,652,0.402121861319,-0.00543864845731,0.0499539353835,0.999999990733,0.000107141840035,-7.94708810384e-05,-2.71824914876e-05,1793244768499617024
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.343157117,714,679.656842883,660,635,878.343157117,787,806,653,631,652,0.40230432435,-0.0054446184936,0.0499526781273,0.999999990849,0.000104200218853,-8.23321172635e-05,-2.5821123552e-05,1793244768516283648
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.931192836,714,679.068807164,660,635,878.931192836,787,806,653,631,652,0.402496971208,-0.00545108823213,0.0499494913949,0.999999990732,0.000100954509597,-8.8008182656e-05,-2.44704843023e-05,1793244768532950784
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.488681071,714,679.511318929,660,634.488681071,879,787,806,653,631,652,0.402729576232,-0.00545808773506,0.0499481917239,0.999999990568,9.8689765731e-05,-9.27415666409e-05,-2.2886315468e-05,1793244768549617408
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.91024572,660,634,879,787,806,653,631,652,0.402974869768,-0.00546569745095,0.0499480648391,0.99999999064,9.62293978963e-05,-9.49337330481e-05,-2.11675474239e-05,1793244768566283776
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.335283868,660,634,879,787,806,653,631,652,0.403260131422,-0.00547622643711,0.0499529261165,0.999999992055,9.20087444159e-05,-8.40635185187e-05,-1.88884390093e-05,1793244768582950656
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.759866211,652,0.403566638285,-0.00548625450003,0.0499613893535,0.999999993808,8.74200307598e-05,-6.68959271e-05,-1.63045932063e-05,1793244768599617280
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,630.183810964,652,0.403902864903,-0.00549558182436,0.0499748913459,0.999999995686,8.23164405524e-05,-4.09189803607e-05,-1.32944525593e-05,1793244768616283648
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.402090902,714,679.402090902,660,634,879,787.402090902,806,653,630.402090902,652,0.404257366825,-0.00550496854647,0.0499844212883,0.999999996537,7.92819287994e-05,-2.30512229206e-05,-1.04378355067e-05,1793244768632950016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.99260701,714,679.99260701,660,634,879,787.99260701,806,653,630.99260701,652,0.404620432791,-0.00551438310292,0.0499920898743,0.999999996949,7.7217015196e-05,-8.98354142627e-06,-7.65316176153e-06,1793244768649616896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,746,714,679.428051673,660,634,879,787.428051673,806,653,631,652,0.405045357012,-0.0055207798265,0.0499966417261,0.999999996762,8.02967049118e-05,3.72975533083e-06,-3.86814963833e-06,1793244768666284032
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.850088153,714,679.149911847,660,634,879,787,806,653,631,652,0.405466227932,-0.00552165736669,0.0499946225626,0.999999995925,9.02411286216e-05,2.36959146993e-06,-6.8690345354e-07,1793244768682950656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.275625429,714,679.724374571,660,634,879,787,806,653,631,652,0.405873398804,-0.00550701291396,0.0499741061662,0.999999992114,0.000119441786058,-3.87980354829e-05,7.48557776788e-07,1793244768699617024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.298610611,714,679.701389389,660,634,879.298610611,787,806,653,631,652,0.406307731402,-0.00549619304133,0.0499532586675,0.999999986679,0.000143828777365,-7.71501893798e-05,2.02761962092e-06,1793244768716283904
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.872637641,714,679.127362359,660,634,879.872637641,787,806,653,631,652,0.406767116021,-0.00548890067778,0.049932105782,0.99999998021,0.000163776001244,-0.000112905563196,3.16243036419e-06,1793244768732950784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,714,679.461803126,660,634.461803126,880,787,806,652.538196874,630.538196874,652,0.407269737489,-0.00549462346887,0.0499234271069,0.999999977709,0.000167648471782,-0.000128215066439,6.02951553801e-06,1793244768749617408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.946371167,714,679.946371167,660,634.946371167,880,787,806,652,630.053628833,652,0.407795155481,-0.0055037000546,0.0499212844992,0.999999977231,0.00016772552576,-0.000131587521398,9.55054025804e-06,1793244768766284032
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.370669735,714,679.370669735,660,634.370669735,880,787,806,652,630.629330265,652,0.408422478329,-0.00550929779268,0.049948143784,0.999999981647,0.000175475186458,-7.550788071e-05,1.4629128474e-05,1793244768782951424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.205154874,634,879.794845126,787,806,652.205154874,631,652,0.409054164002,-0.00551347051715,0.0499732366949,0.999999982538,0.000183717556543,-2.80055961703e-05,1.96741034226e-05,1793244768799618304
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.781202137,634,879.218797863,787,806,652.781202137,631,652,0.409693737037,-0.00551506700858,0.0499951362378,0.999999981092,0.000192850679097,3.98997974189e-06,2.46583098641e-05,1793244768816284416
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.634631549,634,879,787,805.634631549,653,631,652,0.410316529461,-0.00551410944586,0.0499985428516,0.999999978104,0.000207277365394,1.68048435975e-06,2.87335893135e-05,1793244768832951296
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.045492733,634,879,787,805.045492733,653,631,652,0.410929044555,-0.00551158764943,0.0499906234468,0.999999973945,0.000224946101045,-2.16391960425e-05,3.22521950985e-05,1793244768849618176
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.534741571,659.465258429,634,879,787,805,652.465258429,630.465258429,652,0.411569269844,-0.00550816022646,0.0499557817216,0.999999966865,0.000238173508782,-9.13835908622e-05,3.45395694398e-05,1793244768866284288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.113874052,634,879,787,805.113874052,652,630.113874052,652,0.412243261742,-0.00550583906178,0.0499307995936,0.999999958571,0.000250085357649,-0.000137670796925,3.69130509407e-05,1793244768882950400
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.69155361,634,879,787,805.69155361,652,630.69155361,652,0.41304533938,-0.00550833231798,0.0499551512262,0.999999963241,0.000258152710942,-7.25946762985e-05,4.00568839707e-05,1793244768899616768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.267774858,634,879,786.732225142,806,652,631,652,0.413829450565,-0.00551605171813,0.0499723494042,0.999999976748,0.000209996663572,-3.73438090656e-05,3.17794643726e-05,1793244768916283392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.84232547,634,879,786.15767453,806,652,631,652,0.414592978619,-0.00552975844043,0.0499813522439,0.999999994542,9.74283842372e-05,-3.62621779469e-05,1.0417308695e-05,1793244768932950016
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.572777761,634,879.427222239,786.427222239,806.427222239,652,631,652,0.415335768345,-0.0055356631988,0.0499603162679,0.999999994498,7.44823880611e-05,-7.35812193515e-05,6.52139427623e-06,1793244768949617152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.015784119,745,714,680,659.984215881,634,880,787,806.984215881,652,630.984215881,652,0.416073613074,-0.00553831913293,0.0499289791986,0.999999988648,8.58310444262e-05,-0.00012349293189,9.2652530077e-06,1793244768966284288
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.595483327,745,714,680,659.404516673,634,880,787,806.404516673,652,630.404516673,652,0.416915025427,-0.00553033218628,0.0499355285168,0.999999988263,0.000111360598516,-0.000104396128687,1.32073247213e-05,1793244768982951168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.826201738,745,714,679.826201738,659.347596525,634,880,787,806,652,630.173798262,652,0.417772433595,-0.00552451941043,0.0499485799728,0.999999988322,0.000131287149657,-7.63568116476e-05,1.70050762072e-05,1793244768999617792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.251083282,745,714,679.251083282,660.497833437,634,880,787,806,652,630.748916718,652,0.418666777891,-0.00552372704571,0.0499766456134,0.999999989848,0.000138275720518,-2.76682019867e-05,2.04695754407e-05,1793244769016284160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.320326634,660.359346733,634,880,787,805.679673366,652,631,652,0.419514393222,-0.00552392078172,0.0499773800304,0.99999998969,0.000138064311389,-3.30685334534e-05,2.15383875411e-05,1793244769032950528
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.888862907,659.222274186,634,880,787,805.111137093,652,631,652,0.420325799909,-0.00552487861192,0.0499569364595,0.999999987806,0.000132273895169,-8.03804510528e-05,2.07508672863e-05,1793244769049616896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.477761517,634,880,787,805.477761517,652.477761517,631,651.522238483,0.421230051746,-0.00552717149903,0.0499698079643,0.999999990533,0.000129491654303,-4.14527653661e-05,2.11463955774e-05,1793244769066283776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.139199889,634,880,787,806,652.930400056,631,651.069599944,0.42215487589,-0.00552980243461,0.049988869516,0.999999991554,0.000127534971265,1.21618370433e-05,2.18943274893e-05,1793244769082950656
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.293590951,634,880,787,806,652.353204524,631,651.646795476,0.423065209352,-0.00553253300266,0.0499940398312,0.99999999156,0.000126268527284,2.00690619537e-05,2.31159503326e-05,1793244769099617280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.776601903,661.553203807,634,880.223398097,787,806.223398097,652,631,652,0.42397962539,-0.00553413946417,0.0499910676379,0.999999991805,0.000124869495395,1.52869488313e-05,2.37625637169e-05,1793244769116284160
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.200934136,660.401868272,634,880.799065864,787,806.799065864,652,631,652,0.424900479258,-0.00553397335665,0.0499752557714,0.999999992082,0.000123261389425,-9.50459467819e-06,2.35024623363e-05,1793244769132950784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.376127851,714,679.376127851,660.376127851,634,881,787,806.623872149,652,631,651.623872149,0.425832015558,-0.00553503522226,0.0499828181305,0.999999992201,0.0001222472369,-5.21720808007e-06,2.50127777948e-05,1793244769149617408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.953937391,714,679.953937391,660.953937391,634,881,787,806.046062609,652,631,651.046062609,0.426769279777,-0.00553675553339,0.0500029138706,0.999999992128,0.000121551565353,1.46624519695e-05,2.74723998859e-05,1793244769166283776
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.544959248,746,714,680,661,634,881,787,806,652,631,651.544959248,0.427625963572,-0.00553420733301,0.0499858777153,0.999999991354,0.000123413984648,-3.588675108e-05,2.77908762293e-05,1793244769182950400
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865842042,746,714,680,660.865842042,634,880.865842042,787,806,652,631,652,0.42849480965,-0.00553257945904,0.0499662688402,0.999999988621,0.000124300632401,-8.08763202991e-05,2.77002152815e-05,1793244769199616768
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.286491319,746,714,680,660.286491319,634,880.286491319,787,806,652,631,652,0.429427178815,-0.00553523263699,0.0499487964753,0.999999988493,0.000121213914053,-8.71712971262e-05,2.68673548494e-05,1793244769216283392
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.290196651,745.709803349,714,680,660.290196651,634,880,787,806.290196651,652,631,652,0.430369252206,-0.00553881871952,0.049946556391,0.999999989695,0.000117069351816,-7.85892041625e-05,2.699518187e-05,1793244769232950016
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.864279735,745.135720265,714,680,660.864279735,634,880,787,806.864279735,652,631,652,0.431320818753,-0.00554331742081,0.0499592173682,0.999999991809,0.000111889948245,-5.54535373324e-05,2.80628065916e-05,1793244769249616896
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.549964583,745.450035417,714,679.549964583,661,634,880,787.450035417,807,652,631,652,0.432205649955,-0.00554340631158,0.0499484957484,0.999999990755,0.000110221674039,-7.47174040296e-05,2.75562401231e-05,1793244769266284032
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.03881672,746,714,679.03881672,660.96118328,634,880,787.96118328,806.96118328,652,631,651.96118328,0.433073389426,-0.00554225899955,0.0499332919649,0.999999988393,0.000109852433754,-0.000102132635557,2.67630675032e-05,1793244769282950912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.619386665,746,714,679.619386665,660.380613335,634,880,787.380613335,806.380613335,652,631,651.380613335,0.433990953497,-0.00554291358355,0.0499565703845,0.999999991458,0.000112441500783,-6.0101619984e-05,2.87720480933e-05,1793244769299617280
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.802905303,714,680,660,634,880.197094697,787,806.197094697,652,631,651.197094697,0.434887884625,-0.00554248093686,0.0499739044318,0.999999992268,0.000115686551203,-3.3755737649e-05,3.06818170838e-05,1793244769316283648
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.230644764,714,680,660,634,880.769355236,787,806.769355236,652,631,651.769355236,0.435745541514,-0.00553997876828,0.0499799234885,0.999999991559,0.000120180253741,-3.72661876765e-05,3.24027391957e-05,1793244769332950272
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.655743305,745.344256695,714,680.344256695,660.344256695,634,880.655743305,787,807,652,631,652,0.436595608427,-0.00553880966485,0.0499685589861,0.999999990247,0.000119400278395,-6.48741457294e-05,3.22639925282e-05,1793244769349616896
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.079058841,745.920941159,714,680.920941159,660.920941159,634,880.079058841,787,807,652,631,652,0.437440550851,-0.00553854059158,0.049945457829,0.999999986991,0.000115059735133,-0.000108751736335,3.08696748726e-05,1793244769366283520
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,714,680.486926687,660.486926687,634,880.513073313,787,807,652,631,652,0.43830956182,-0.00554251382919,0.0499667814304,0.999999992274,0.00010574386621,-5.78414525537e-05,3.04143576689e-05,1793244769382950400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.895715877,714,680,660.104284123,634,880.895715877,787,807,652,631,652,0.439164335956,-0.00554619805499,0.0499880110277,0.999999994719,9.7909252222e-05,-7.92396245871e-06,3.02043243921e-05,1793244769399617024
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.319772127,714,680,660.680227873,634,880.319772127,787,807,652,631,652,0.439937424756,-0.00554552680759,0.0499768939586,0.999999994034,0.000100349138461,-3.06067333452e-05,3.04289490517e-05,1793244769416283904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.255664931,745,714,680,660.744335069,633.744335069,880.255664931,787,807,652,631,652,0.440697665938,-0.00554670882594,0.0499618487562,0.999999992752,0.000101347462403,-5.72407156241e-05,3.07985371599e-05,1793244769432950784
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.830469456,745,714,680,660.169530544,633.169530544,880.830469456,787,807,652,631,652,0.44144186973,-0.00555020422569,0.0499419001725,0.999999990511,0.000100546323056,-8.880688611e-05,3.13490791824e-05,1793244769449617152
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.588270249,745.411729751,714,680,660,633,880.588270249,787,807,652,631,652,0.442172679813,-0.0055508305915,0.049936006999,0.999999989841,0.000102043455128,-9.42232220066e-05,3.20569709561e-05,1793244769466283520
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.004309386,745.995690614,714,680,660,633,880.004309386,787,807,652,631,652,0.442897887223,-0.00555025680895,0.0499359933575,0.999999990067,0.000104501979533,-8.87007953094e-05,3.28306839272e-05,1793244769482950144
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,660,633,880.581049259,786.418950741,807,652,631,652,0.443551914102,-0.0055489545283,0.049910538877,0.999999984194,0.000106910792976,-0.000138222713519,3.28212411239e-05,1793244769499617024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.836696071,714,680,659.836696071,633,881,786,807,652,631,652,0.444183993062,-0.00554763881565,0.0498758648741,0.999999973433,0.00011016868324,-0.000199884110035,3.22941680306e-05,1793244769516283904
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.262281556,714,680,659.262281556,633,881,786,807,652,631,652,0.444762151431,-0.00554630292274,0.0498184572643,0.999999950495,0.000115565018594,-0.000291075925185,3.0478640503e-05,1793244769532951296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.31242779,659,633,880.68757221,786,806.68757221,652,630.68757221,652,0.445367575884,-0.00554609300631,0.049790948059,0.999999940109,0.000118173480977,-0.000323913947306,2.99480614253e-05,1793244769549617920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.887384847,659,633,880.112615153,786,806.112615153,652,630.112615153,652,0.445995911661,-0.00554682923428,0.0497885621222,0.999999945176,0.000118439327911,-0.000307717984086,3.04972091329e-05,1793244769566284544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.52580874,880,786,806.47419126,652,630,652,0.446586720859,-0.0055477674101,0.0497916609924,0.999999948522,0.000120556158595,-0.00029563929364,3.19222972269e-05,1793244769582951168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.937139344,659,632,880.062860656,786,807.062860656,652,630.062860656,652,0.447157391773,-0.00554832399217,0.0497915038029,0.999999949118,0.000123555841878,-0.00029222238115,3.3233027821e-05,1793244769599617536
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.356891802,659,632,880.643108198,786,807.643108198,652,630.643108198,652,0.447637543758,-0.00554533492837,0.0497535510611,0.999999929131,0.000130111171734,-0.000351843630306,3.18464353992e-05,1793244769616283904
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.22124061,659,632,881,786,807.77875939,652.22124061,630.77875939,652,0.448109961587,-0.00554490908154,0.0497229398146,0.999999911031,0.000132549404858,-0.000399240766659,3.12167193397e-05,1793244769632950528
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.79599328,659,632,881,786,807.20400672,652.79599328,630.20400672,652,0.448570021252,-0.00554857890314,0.049704059271,0.999999900041,0.000128409083666,-0.000427105448065,3.17963878519e-05,1793244769649617152
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.621728874,631.621728874,880.621728874,786,806.621728874,652.621728874,630.378271126,652,0.44902922562,-0.00555119267962,0.0497055409035,0.999999900909,0.000127534239728,-0.000425225553726,3.3163872039e-05,1793244769666284032
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.03531017,631.03531017,880.03531017,786,806.03531017,652.03531017,630.96468983,652,0.449487959394,-0.00555322535674,0.0497182270312,0.999999908323,0.000128456257868,-0.000406978403104,3.49648599621e-05,1793244769682950912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.123786519,681,658.123786519,630,880.876213481,786,807,652,630,652,0.450310386382,-0.00555107668587,0.049739570466,0.999999920203,0.000112848146557,-0.000382010101534,3.04684027166e-05,1793244769716284160
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.701143909,681,658.701143909,630,880.298856091,786,807,652,630,652,0.450664075735,-0.00555662238951,0.0497372218764,0.999999921301,4.93561017652e-05,-0.000393425518299,1.33605983255e-05,1793244769732951040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.722438014,681,658.722438014,630,880,786,807,652,629.722438014,652,0.45098882739,-0.00556116388238,0.0497292933508,0.999999915229,1.64052359173e-05,-0.000411395117955,5.13060869616e-06,1793244769749617408
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.147027937,681,658.147027937,630,880,786,807,652,629.147027937,652,0.451282526361,-0.00556462776963,0.0497153770697,0.999999904626,1.62277087463e-05,-0.000436397925054,6.42728560072e-06,1793244769766284032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.438579004,681,658,630,880.438579004,786,807,652,629.438579004,652,0.451543982339,-0.00556446163409,0.0496974603071,0.999999888512,1.98423629507e-05,-0.000471731395783,7.14900295226e-06,1793244769782950656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027288495,745,715,681,658,630,881,786,807,652,630,652,0.451793723013,-0.00556299803586,0.0496787122512,0.999999869984,2.48305239928e-05,-0.000509270920398,7.70134810566e-06,1793244769799617280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.607943924,745,715,681,658,630,881,786,807,652,630,652,0.452030303776,-0.00556048851874,0.049670949788,0.999999864456,3.1278053935e-05,-0.000519645465205,8.82074990744e-06,1793244769816283904
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.813597167,745.186402833,715,681,658,630,881,785.813597167,807,652,629.813597167,652,0.452261278574,-0.00555874090566,0.0496678181808,0.999999863119,3.69189954765e-05,-0.000521822885722,1.00156213667e-05,1793244769832950272
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.239704407,745.760295593,715,681,658,630,881,785.239704407,807,652,629.239704407,652,0.452480599793,-0.00555857712153,0.0496743130922,0.999999870595,4.08832187717e-05,-0.000506960311264,1.13673772779e-05,1793244769849617152
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.656320451,715,681,657.656320451,629.656320451,881,785,807,652,629,652,0.452674122246,-0.00555894888122,0.0496788750518,0.999999875284,4.36225783622e-05,-0.000497368686976,1.24131006096e-05,1793244769866284032
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.066128653,715,681,657.066128653,629.066128653,881,785,807,652,629,652,0.45284913995,-0.0055597047723,0.0496820505571,0.999999878063,4.54833760277e-05,-0.00049155777434,1.3239315007e-05,1793244769882950656
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715,680.595475703,657.404524297,628.404524297,881,785,807,652,629.595475703,652,0.453492158253,-0.005558276779,0.0496481433714,0.999999852131,5.32932809429e-05,-0.000541000471875,1.46814656535e-05,1793244769982950656
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,715,680.005240158,657.994759842,628.994759842,881,785,807,652,629.005240158,652,0.453556814558,-0.00555624945173,0.0496442384957,0.999999848267,5.65472574358e-05,-0.000547771856247,1.46211417236e-05,1793244769999617792
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.790819457,657.790819457,628,881.209180543,785,807,652,629,652,0.453783678304,-0.00555183956778,0.0496353685789,0.99999984321,6.00289067743e-05,-0.000556579499862,1.39920306901e-05,1793244770149617920
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.215817094,657.215817094,628,881.784182906,785,807,652,629,652,0.453788271825,-0.00554974241499,0.0496357247107,0.999999842874,6.13211657591e-05,-0.000557041357449,1.40165002434e-05,1793244770166284800
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.641780955,680.358219045,657,628,881.641780955,785,807,652,629,652,0.453790116446,-0.00554958122579,0.0496348797833,0.999999842004,6.1748392686e-05,-0.000558555552031,1.39590174712e-05,1793244770182951168
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.068325394,680.931674606,657,628,881.068325394,785,807,652,629,652,0.453790309386,-0.00555058326365,0.0496333131976,0.99999984081,6.16558635964e-05,-0.000560702045051,1.38522935054e-05,1793244770199617280
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,657,628,881,785,807,652,629,652,0.453792421251,-0.00554955531035,0.049634068453,0.99999984163,6.17233716487e-05,-0.000559240507852,1.34319257592e-05,1793244770216284160
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.883602316,745,714.116397684,681,657,628,881,785,807,652,629,652,0.453794124483,-0.00554862792244,0.0496345211179,0.999999842152,6.15929143393e-05,-0.000558328443591,1.30934463613e-05,1793244770232951040
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.308375051,745,714.691624949,681,657,628,881,785,807,652,629,652,0.453793193759,-0.00554917933566,0.0496325430033,0.999999840432,6.05967637331e-05,-0.000561506137535,1.32449970955e-05,1793244770249617152
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.26665375,745.26665375,715,681,657,628,881,785,807,652,629,652,0.453792998907,-0.0055484265981,0.049631680936,0.999999839526,6.19557644024e-05,-0.000562967051241,1.3336917479e-05,1793244770266283776
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.841453279,745.841453279,715,681,657,628,881,785,807,652,629,652,0.453793654429,-0.00554616678054,0.0496321085756,0.999999839559,6.60363839937e-05,-0.000562444049563,1.33599288907e-05,1793244770282950912
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.571164224,746,714.571164224,680.571164224,657,628,880.571164224,785,807,652,629,652,0.453793636341,-0.0055471507368,0.0496315018299,0.999999839438,6.32889128982e-05,-0.000562970532782,1.34989501563e-05,1793244770299617792
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.020507607,745.979492393,714.020507607,680.020507607,657,628,880,785,807,652,629,652,0.453793379613,-0.00554923819026,0.0496305460074,0.999999839246,5.82531442766e-05,-0.000563850833735,1.3673042595e-05,1793244770316284160
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.598496042,745.401503958,714.598496042,680.598496042,657,628,880,785,807,652,629,652,0.453793610296,-0.005547736659,0.0496308110392,0.999999839247,6.17112296574e-05,-0.000563482814366,1.35993285629e-05,1793244770332950528
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,880.175461849,785,807,652,629,652,0.453793629807,-0.00554667018875,0.0496307721883,0.999999838918,6.41198511451e-05,-0.000563797974293,1.35450814716e-05,1793244770349616896
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,657,628,880.750101134,785,807,652,629,652,0.453793168898,-0.00554659348668,0.0496300420009,0.999999837862,6.41409317225e-05,-0.000565667373881,1.35351218672e-05,1793244770366283520
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.667245066,745.332754934,715,681,657,628,880.667245066,785,807,652,629,652,0.453793279165,-0.0055463252863,0.0496300545298,0.999999837683,6.33974244622e-05,-0.000566068378783,1.34436273242e-05,1793244770382950144
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.078423848,745.921576152,715,681,657,628,880.078423848,785,807,652,629,652,0.453793828971,-0.00554590972146,0.0496306386044,0.999999838181,6.20655407542e-05,-0.000565339403752,1.32893888625e-05,1793244770399617024
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.496446391,746,714.503553609,681,657,628,880,785,807,652,629,652,0.453793953413,-0.00554664977326,0.0496301553899,0.999999838049,6.12467293018e-05,-0.000565669883251,1.30096656367e-05,1793244770416283904
+245,4.083333333,HOLD_POSE2,764,745,715,681,657,628,880,785,807,652,629,652,0.453798241152,-0.0055447705123,0.0496328377454,0.999999839971,6.66732200099e-05,-0.000561640347249,1.31355257569e-05,1793244770459555328
+246,4.100000000,HOLD_POSE2,764.572007886,745.572007886,715,681,657,628,880,785,807,652,629,652,0.453797093399,-0.00554450357567,0.0496318833912,0.999999839318,6.60045956503e-05,-0.000562887896072,1.2833711826e-05,1793244770476221696
+247,4.116666667,HOLD_POSE2,765,745.850412598,715,681,657.149587402,628,880,785,807,652.149587402,629,652,0.453796395701,-0.00554416670822,0.0496311688763,0.999999838705,6.59354000347e-05,-0.000563985788464,1.271490736e-05,1793244770492887808
+248,4.133333333,HOLD_POSE2,765,745.25627494,715,681,657.74372506,628,880,785,807,652.74372506,629,652,0.453797035495,-0.00554362201726,0.0496311671259,0.999999838217,6.76476123112e-05,-0.000564638925754,1.31399781992e-05,1793244770509553920
+249,4.150000000,HOLD_POSE2,765,745.32928701,715,681,658,628,880,785,807.32928701,653,629.32928701,652,0.45379783722,-0.00554450418046,0.0496313170166,0.99999983871,6.65968199191e-05,-0.00056388648438,1.3324076669e-05,1793244770526220288
+250,4.166666667,HOLD_POSE2,765,745.908344096,715,681,658,628,880,785,807.908344096,653,629.908344096,652,0.453798761773,-0.00554646863804,0.0496315819296,0.999999839938,6.34502390455e-05,-0.00056206788645,1.33253932678e-05,1793244770542886912
+251,4.183333333,HOLD_POSE2,764.516963701,745.516963701,715.483036299,681,657.516963701,628,880.483036299,785,808,653,630,652,0.453797151262,-0.00554554662012,0.0496307972853,0.999999838809,6.3950269816e-05,-0.000564026197571,1.29338700538e-05,1793244770559553792
+252,4.200000000,HOLD_POSE2,764.058267811,745,715.941732189,681,657,628,881,785,807.941732189,652.941732189,629.941732189,652,0.453795383313,-0.00554431179035,0.0496299590727,0.999999837466,6.49779563078e-05,-0.000566292944018,1.25543991238e-05,1793244770576220672
+253,4.216666667,HOLD_POSE2,764.645855077,745,715.354144923,681,657,628,881,785,807.354144923,652.354144923,629.354144923,652,0.453796515801,-0.00554516625225,0.0496304271862,0.99999983827,6.45695095903e-05,-0.000564909517656,1.29555006691e-05,1793244770592887552
+254,4.233333333,HOLD_POSE2,765,745.230650108,715,681,657,628,881,785,806.769349892,651.769349892,629,652,0.453797221279,-0.00554543599689,0.0496309756498,0.99999983875,6.47045018664e-05,-0.000564036773061,1.32521595504e-05,1793244770609554176
+255,4.250000000,HOLD_POSE2,765,745.811209113,715,681,657,628,881,785,806.188790887,651.188790887,629,652,0.453797278957,-0.00554481869325,0.0496316460089,0.999999838741,6.56639210141e-05,-0.000563938760911,1.33903731308e-05,1793244770626220800
+256,4.266666667,HOLD_POSE2,765,745.610676301,714.610676301,681,657,628,880.610676301,784.610676301,806,651.389323699,629,652,0.453796896197,-0.00554372321172,0.0496307785997,0.999999838106,6.65062198179e-05,-0.000564968206063,1.32241431998e-05,1793244770642887680
+257,4.283333333,HOLD_POSE2,765,745.033739614,714.033739614,681,657,628,880.033739614,784.033739614,806,651.966260386,629,652,0.453796301193,-0.00554239729881,0.0496291701484,0.999999837168,6.72920790461e-05,-0.000566540966789,1.29112035975e-05,1793244770659554048
+258,4.300000000,HOLD_POSE2,765,745,714.540232193,681,657,628,880,784.540232193,807.080464387,652,629,652,0.45379575028,-0.00554238672753,0.0496288464984,0.999999836704,6.85540369941e-05,-0.000567204952865,1.30427022231e-05,1793244770676220672
+259,4.316666667,HOLD_POSE2,765,745,715,681,657,628,880.117392703,785,808,652,629,652,0.453795367607,-0.00554267386971,0.0496286377478,0.999999836367,6.93319701292e-05,-0.000567701346958,1.32192721964e-05,1793244770692887296
+260,4.333333333,HOLD_POSE2,765,745,715,681,657,628,880.708153937,785,808,652,629,652,0.453795652285,-0.00554383205451,0.049628570518,0.999999836425,6.80389015274e-05,-0.000567749564667,1.34662710272e-05,1793244770709554176
+261,4.350000000,HOLD_POSE2,765,745,714.707413967,681,657,628,881,785,807.414827933,652,629,652,0.453796679814,-0.00554455354684,0.0496294090605,0.999999837201,6.64932082327e-05,-0.000566568270163,1.33397288006e-05,1793244770726221056
+262,4.366666667,HOLD_POSE2,765,745,714.129161363,681,657,628,881,785,806.258322726,652,629,652,0.453798432624,-0.00554484867413,0.0496311319546,0.999999838671,6.47008647266e-05,-0.000564186540576,1.28484794971e-05,1793244770742887680
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,628,881,786,807,652,629,652,0.453794383163,-0.00554297051595,0.0496278170286,0.999999835925,6.85837392664e-05,-0.000568582132628,1.27120935797e-05,1793244770775538176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.412969212,881,785.412969212,807,652,629,652,0.453796584795,-0.00554370839648,0.0496291659304,0.99999983705,6.61178515712e-05,-0.000566884932761,1.30120273942e-05,1793244770792204544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.171364479,881,785,807,652,629,652,0.453798280795,-0.0055443743485,0.0496300262259,0.999999837824,6.32165945756e-05,-0.000565851603603,1.29682619445e-05,1793244770808870912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627.7492993,881,785,807,652,629,652,0.453798777157,-0.00554486964688,0.0496297272799,0.999999837769,5.92824027987e-05,-0.000566393338803,1.21090537749e-05,1793244770825537280
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.658162062,628,881,785,807,652,629,652,0.453793910599,-0.00554473483045,0.0496288642012,0.999999836593,5.75652049468e-05,-0.000568656875596,1.1425094847e-05,1793244770842204160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,658.820555364,628,881,785,807,652,629,652,0.4537849354,-0.00554411727031,0.0496275689293,0.999999834556,5.75464911228e-05,-0.000572239519307,1.08753979519e-05,1793244770858871040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,658.020083434,628,881,785,807,652,629,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770875537664
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.930784003,715,681,657,628,880.930784003,784.930784003,807,652,629.069215997,651.930784003,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770892204544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.352600748,715,681,657,628,880.352600748,784.352600748,807,652,629.647399252,651.352600748,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770908870912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.772075041,681,657.455849918,628,880.227924959,784.227924959,807.227924959,652.227924959,630,651.227924959,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770925537536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.18788798,681,658.62422404,628,880.81211202,784.81211202,807.81211202,652.81211202,630,651.81211202,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770942203904
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.606987269,628,881,785,807.606987269,652.606987269,629.606987269,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770958870528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.027644587,628,881,785,807.027644587,652.027644587,629.027644587,652,0.453783549852,-0.00554402193437,0.0496273689714,0.99999983424,5.75436021735e-05,-0.000572792590454,1.07905384135e-05,1793244770975536896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.550290894,745,714.550290894,680.449709106,657.449709106,628,881,785,807,652,629,651.449709106,0.453317942965,-0.00552860026554,0.0495938957647,0.999999798421,6.54689584768e-05,-0.000631518278095,7.44818825984e-06,1793244770992203776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.991424226,745.004287887,715,680.004287887,657,628,881,785,807,652,629,651.004287887,0.452936165007,-0.00551587307688,0.0495659078522,0.999999765738,7.20358992986e-05,-0.00068067117778,4.65680895531e-06,1793244771008870400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.95275537,745.023622315,715,680.023622315,657,628,881,785,807,652,629,651.023622315,0.45293041875,-0.00551531268045,0.0495630539865,0.999999762133,7.24425093132e-05,-0.000685906464453,4.38652756934e-06,1793244771025537280
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.914086515,745.042956743,715,680.042956743,657,628,881,785,807,652,629,651.042956743,0.452924672492,-0.00551475228402,0.0495602001209,0.9999997585,7.28491193263e-05,-0.000691141751115,4.11624618288e-06,1793244771042203904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.875417661,745.062291169,715,680.062291169,657,628,881,785,807,652,629,651.062291169,0.452918926235,-0.00551419188762,0.0495573462554,0.999999754839,7.32557293137e-05,-0.00069637703745,3.84596481216e-06,1793244771058870528
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.836748805,745.081625597,715,680.081625597,657,628,881,785,807,652,629,651.081625597,0.452913179978,-0.00551363149119,0.0495544923897,0.999999751151,7.36623393239e-05,-0.000701612324086,3.57568342479e-06,1793244771075537152
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.79807995,745.100960025,715,680.100960025,657,628,881,785,807,652,629,651.100960025,0.452907433721,-0.00551307109476,0.049551638524,0.999999747435,7.40689493324e-05,-0.00070684761071,3.305402037e-06,1793244771092203776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.759411096,745.120294452,715,680.120294452,657,628,881,785,807,652,629,651.120294452,0.452901687464,-0.00551251069837,0.0495487846585,0.999999743691,7.44755593151e-05,-0.000712082897005,3.03512066502e-06,1793244771108870400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.72074224,745.13962888,715,680.13962888,657,628,881,785,807,652,629,651.13962888,0.452895941206,-0.00551195030194,0.0495459307928,0.99999973992,7.48821693204e-05,-0.000717318183601,2.76483927645e-06,1793244771125537280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.682073385,745.158963308,715,680.158963308,657,628,881,785,807,652,629,651.158963308,0.452890194949,-0.00551138990551,0.0495430769271,0.999999736121,7.52887793242e-05,-0.000722553470181,2.49455788752e-06,1793244771142203904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.643404531,745.178297734,715,680.178297734,657,628,881,785,807,652,629,651.178297734,0.452884448692,-0.00551082950911,0.0495402230616,0.999999732294,7.5695389302e-05,-0.000727788756435,2.22427651449e-06,1793244771158870528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.604735675,745.197632162,715,680.197632162,657,628,881,785,807,652,629,651.197632162,0.452878702435,-0.00551026911268,0.049537369196,0.99999972844,7.61019993022e-05,-0.000733024042985,1.95399512491e-06,1793244771175537152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.566066819,745.21696659,715,680.21696659,657,628,881,785,807,652,629,651.21696659,0.452872956177,-0.00550970871625,0.0495345153303,0.999999724558,7.65086093009e-05,-0.000738259329521,1.68371373505e-06,1793244771192203776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.527397966,745.236301017,715,680.236301017,657,628,881,785,807,652,629,651.236301017,0.45286720992,-0.00550914831986,0.0495316614648,0.999999720649,7.69152192733e-05,-0.000743494615727,1.41343236115e-06,1793244771208870400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.48872911,745.255635445,715,680.255635445,657,628,881,785,807,652,629,651.255635445,0.452861463663,-0.00550858792343,0.0495288075991,0.999999716712,7.73218292683e-05,-0.000748729902229,1.14315097078e-06,1793244771225537280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.450060254,745.274969873,715,680.274969873,657,628,881,785,807,652,629,651.274969873,0.452855717406,-0.005508027527,0.0495259537334,0.999999712747,7.77284392615e-05,-0.000753965188714,8.728695802e-07,1793244771242203904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.411391401,745.2943043,715,680.2943043,657,628,881,785,807,652,629,651.2943043,0.452849971149,-0.0055074671306,0.0495230998679,0.999999708755,7.81350492283e-05,-0.000759200474869,6.02588205633e-07,1793244771258870528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.372722545,745.313638727,715,680.313638727,657,628,881,785,807,652,629,651.313638727,0.452844224892,-0.00550690673417,0.0495202460022,0.999999704734,7.85416592176e-05,-0.000764435761319,3.32306814674e-07,1793244771275537152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.334053689,745.332973155,715,680.332973155,657,628,881,785,807,652,629,651.332973155,0.452838478634,-0.00550634633775,0.0495173921366,0.999999700687,7.8948269205e-05,-0.000769671047751,6.20254235612e-08,1793244771292203776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.295384836,745.352307582,715,680.352307582,657,628,881,785,807,652,629,651.352307582,0.452832732377,-0.00550578594135,0.0495145382711,0.999999696611,7.9354879166e-05,-0.000774906333849,-2.08255951465e-07,1793244771308870400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.25671598,745.37164201,715,680.37164201,657,628,881,785,807,652,629,651.37164201,0.45282698612,-0.00550522554492,0.0495116844054,0.999999692508,7.97614891495e-05,-0.000780141620244,-4.78537342817e-07,1793244771325537280
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.179378271,745.410310865,715,680.410310865,657,628,881,785,807,652,629,651.410310865,0.452815493606,-0.0055041047521,0.0495059766742,0.999999684219,8.05747090855e-05,-0.000790612192657,-1.01910010954e-06,1793244771358870528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.140709415,745.429645293,715,680.429645293,657,628,881,785,807,652,629,651.429645293,0.452809747348,-0.00550354435567,0.0495031228085,0.999999680034,8.09813190626e-05,-0.000795847478992,-1.28938150108e-06,1793244771375537152
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.063371706,745.468314147,715,680.468314147,657,628,881,785,807,652,629,651.468314147,0.452798254834,-0.00550242356284,0.0494974150773,0.999999671579,8.1794538986e-05,-0.000806318051281,-1.82994426799e-06,1793244771408870400
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.947365141,745.52631743,715,680.52631743,657,628,881,785,807,652,629,651.52631743,0.452781016062,-0.00550074237359,0.0494888534805,0.999999658689,8.30143688663e-05,-0.000822023909708,-2.64078842619e-06,1793244771458870528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.908696285,745.545651858,715,680.545651858,657,628,881,785,807,652,629,651.545651858,0.452775269805,-0.00550018197716,0.0494859996148,0.999999654337,8.342097883e-05,-0.000827259195911,-2.91106981751e-06,1793244771475537152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.870027429,745.564986286,715,680.564986286,657,628,881,785,807,652,629,651.564986286,0.452769523548,-0.00549962158073,0.0494831457491,0.999999649958,8.38275887913e-05,-0.000832494482088,-3.18135120871e-06,1793244771492203776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.831358575,745.584320712,715,680.584320712,657,628,881,785,807,652,629,651.584320712,0.452763777291,-0.00549906118433,0.0494802918836,0.999999645551,8.42341987258e-05,-0.000837729767928,-3.45163258356e-06,1793244771508870400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.79268972,745.60365514,715,680.60365514,657,628,881,785,807,652,629,651.60365514,0.452758031034,-0.0054985007879,0.0494774380179,0.999999641116,8.46408086823e-05,-0.000842965054057,-3.72191397446e-06,1793244771525537280
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.71535201,745.642323995,715,680.642323995,657,628,881,785,807,652,629,651.642323995,0.452746538519,-0.00549737999508,0.0494717302867,0.999999632163,8.54540285634e-05,-0.000853435625927,-4.26247673949e-06,1793244771558870528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.676683155,745.661658423,715,680.661658423,657,628,881,785,807,652,629,651.661658423,0.452740792262,-0.00549681959865,0.0494688764211,0.999999627646,8.58606385124e-05,-0.00085867091198,-4.53275812978e-06,1793244771575537152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.638014299,745.680992851,715,680.680992851,657,628,881,785,807,652,629,651.680992851,0.452735046005,-0.00549625920222,0.0494660225554,0.9999996231,8.62672484588e-05,-0.000863906198008,-4.80303951981e-06,1793244771592203776
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.522007734,745.738996133,715,680.738996133,657,628,881,785,807,652,629,651.738996133,0.452717807233,-0.00549457801296,0.0494574609585,0.999999609298,8.74870782581e-05,-0.000879612055616,-5.61388367198e-06,1793244771642203904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.48333888,745.75833056,715,680.75833056,657,628,881,785,807,652,629,651.75833056,0.452712060976,-0.00549401761657,0.049454607093,0.999999604643,8.78936881695e-05,-0.000884847341219,-5.88416504458e-06,1793244771658870528
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.367332315,745.816333842,715,680.816333842,657,628,881,785,807,652,629,651.816333842,0.452694822204,-0.00549233642731,0.0494460454962,0.999999590509,8.91135179361e-05,-0.000900553198489,-6.69500919253e-06,1793244771708870400
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.328663459,745.83566827,715,680.83566827,657,628,881,785,807,652,629,651.83566827,0.452689075947,-0.00549177603088,0.0494431916305,0.999999585742,8.95201278608e-05,-0.000905788484291,-6.96529057976e-06,1793244771725537024
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.289994603,745.855002698,715,680.855002698,657,628,881,785,807,652,629,651.855002698,0.45268332969,-0.00549121563446,0.0494403377648,0.999999580948,8.99267377826e-05,-0.000911023770064,-7.23557196654e-06,1793244771742203904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.25132575,745.874337125,715,680.874337125,657,628,881,785,807,652,629,651.874337125,0.452677583433,-0.00549065523806,0.0494374838993,0.999999576126,9.03333476772e-05,-0.000916259055492,-7.50585333662e-06,1793244771758870528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.212656894,745.893671553,715,680.893671553,657,628,881,785,807,652,629,651.893671553,0.452671837175,-0.00549009484163,0.0494346300336,0.999999571277,9.07399575932e-05,-0.000921494341202,-7.77613472242e-06,1793244771775537152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.173988038,745.913005981,715,680.913005981,657,628,881,785,807,652,629,651.913005981,0.452666090918,-0.0054895344452,0.0494317761679,0.9999995664,9.11465675063e-05,-0.000926729626882,-8.04641610771e-06,1793244771792203776
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.135319185,745.932340408,715,680.932340408,657,628,881,785,807,652,629,651.932340408,0.452660344661,-0.00548897404881,0.0494289223024,0.999999561495,9.1553177392e-05,-0.000931964912216,-8.31669747624e-06,1793244771808870400
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.096650329,745.951674835,715,680.951674835,657,628,881,785,807,652,629,651.951674835,0.452654598404,-0.00548841365238,0.0494260684368,0.999999556563,9.1959787299e-05,-0.000937200197832,-8.58697886043e-06,1793244771825537024
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.057981473,745.971009263,715,680.971009263,657,628,881,785,807,652,629,651.971009263,0.452648852147,-0.00548785325595,0.0494232145711,0.999999551603,9.2366397203e-05,-0.000942435483414,-8.85726024402e-06,1793244771842203904
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.01931262,745.99034369,715,680.99034369,657,628,881,785,807,652,629,651.99034369,0.45264310589,-0.00548729285955,0.0494203607056,0.999999546615,9.27730070794e-05,-0.00094767076865,-9.12754161078e-06,1793244771858870528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.295723862,745.704276138,715,681,657,628,880.704276138,785,807,652,629,652,0.452640488865,-0.00548589083462,0.0494195913517,0.999999544901,9.39404344247e-05,-0.000949357064749,-9.68724191245e-06,1793244771875536896
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.531887499,657.468112501,628,880,785,807.468112501,652,629.468112501,651.531887499,0.452641678669,-0.00548535553546,0.0494204927405,0.999999546349,9.40408252857e-05,-0.000947817618562,-1.00180833689e-05,1793244771908870144
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.124873196,714.124873196,681,657.875126804,628,881,785,807,652.124873196,629.124873196,652,0.452641033417,-0.00548858224298,0.0494209361264,0.999999546419,9.07882838921e-05,-0.000948070019715,-9.05043173576e-06,1793244771958870016
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.411373901,714,681,657,628,881,785,807,652,629,652,0.452641649356,-0.00549059491244,0.049420766354,0.99999954669,9.1032686324e-05,-0.000947764702351,-8.64497358249e-06,1793244772142203136
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.165380167,714.165380167,681,657,628,881,785,807,652,629,652,0.452641853405,-0.00549037526438,0.0494209338901,0.999999546855,9.01619042821e-05,-0.000947673157666,-8.77652218278e-06,1793244772158869760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.739820439,714.739820439,681,657,628,881,785,807,652,629,652,0.452641119413,-0.00548541346344,0.049420402407,0.999999545574,9.40915654928e-05,-0.000948631105127,-9.86640118454e-06,1793244772175536640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.32246906,745.67753094,715,681,657,628,881,784.67753094,807,652.32246906,629,652,0.452578032948,-0.00548233110087,0.0493944715873,0.999999498557,9.70776440304e-05,-0.000996663753636,-1.10648799455e-05,1793244772192203264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.91191342,745.08808658,715,681,657,628,881,784.08808658,807,652.91191342,629,652,0.45246332426,-0.00548080474406,0.0493475124076,0.999999407825,9.92825204103e-05,-0.00108367000337,-1.23532693841e-05,1793244772208869888
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.507153643,745.492846357,715,680.507153643,657,628,881,784.492846357,807,652.507153643,629,652,0.452270345473,-0.00547562947247,0.0492268601488,0.999999175859,9.80981309545e-05,-0.0012799651026,-1.86547565757e-05,1793244772225536512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.928418081,714.928418081,680.071581919,657,628,881,785,807,652,629,652,0.452082032337,-0.00547066511458,0.0491044060956,0.99999890511,9.62361470351e-05,-0.00147644232588,-2.52263391245e-05,1793244772242203392
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.35460751,714.35460751,680.64539249,657,628,881,785,807,652,629,652,0.452022938219,-0.00547167860203,0.0490601524339,0.999998810228,9.37980678008e-05,-0.00153947649464,-2.75132686553e-05,1793244772258870016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.220929037,714.220929037,681,657.220929037,628,881,785,807,652,629,651.779070963,0.451997910075,-0.00547133082937,0.0490416587084,0.999998771149,9.42566869189e-05,-0.00156460317496,-2.88636101802e-05,1793244772275536640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.799257662,714.799257662,681,657.799257662,628,881,785,807,652,629,651.200742338,0.452027990879,-0.00546878092958,0.0490648371492,0.999998826634,9.94013308015e-05,-0.0015284064511,-2.86988218025e-05,1793244772292203264
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.614990336,715,681,657.614990336,628,881,785,807,652,629,651.385009664,0.452031507863,-0.00546818014515,0.0490688377165,0.999998836124,9.90352931774e-05,-0.00152220569046,-2.88441200838e-05,1793244772308869888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.025291668,715,681,657.025291668,628,881,785,807,652,629,651.974708332,0.45202090229,-0.00546861560065,0.0490626424384,0.999998821553,9.57395220676e-05,-0.00153195217303,-2.91542748181e-05,1793244772325536512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.553044711,745.553044711,715,681,657.553044711,628,880.446955289,785,806.446955289,652,629,652,0.452008242826,-0.00547265538212,0.0490572529128,0.9999988125,9.22842123879e-05,-0.0015380759644,-2.83751998098e-05,1793244772342203648
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.870039438,746,715,681,657.870039438,628,880.129960562,785,806.129960562,652,629,652,0.451994349171,-0.00547491917282,0.0490515960174,0.999998805288,9.05927185109e-05,-0.00154286315804,-2.80729971234e-05,1793244772358870784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.296235964,746,715,681,657.296235964,628,880.703764036,785,806.703764036,652,629,652,0.451976554809,-0.00547056597582,0.0490449026839,0.999998803642,9.49494448053e-05,-0.0015436400024,-2.95661093261e-05,1793244772375537408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.285499122,628,881,785,807.285499122,652,629,652,0.451944578406,-0.0054681692371,0.0490332925323,0.999998786484,9.662126841e-05,-0.00155458791831,-3.08487262835e-05,1793244772392203776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.875699246,628,881,785,807.875699246,652,629,652,0.45189746612,-0.00546786054289,0.0490164348716,0.999998752433,9.54276099285e-05,-0.00157639098322,-3.19066905696e-05,1793244772408870144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.542528031,628,881,785,807.542528031,652,629,652,0.451848732437,-0.00546532224472,0.0490140841505,0.999998744965,9.69947749226e-05,-0.00158101325753,-3.25243244711e-05,1793244772425536768
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.036786546,628,880.963213454,785,807,652,629,652,0.451799148007,-0.00546230982496,0.0490156997582,0.999998745414,9.9217478385e-05,-0.00158058087607,-3.3013795335e-05,1793244772442203392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657.613025544,628,880.386974456,785,807,652,629,652,0.451743431472,-0.00546106785203,0.0490187218959,0.99999875687,0.000100251748147,-0.00157324354293,-3.33465915218e-05,1793244772458870016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.811868265,715,681,658,628,880.188131735,785,807,652,629,652,0.451676410555,-0.00545932336763,0.0490200260968,0.999998760561,0.00010122640235,-0.00157082687234,-3.36542835444e-05,1793244772475536384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.239078308,715,681,658,628,880.760921692,785,807,652,629,652,0.451586276459,-0.00545655143755,0.0490178177664,0.999998748429,0.000102079165173,-0.00157847109599,-3.39106470099e-05,1793244772492203264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.345518108,715,681,658,628,880.654481892,785.345518108,807,652,629,651.654481892,0.451484719821,-0.00545222744062,0.0490159131653,0.99999873928,0.000105878987455,-0.00158399475733,-3.44811601955e-05,1793244772508870144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.93857299,715,681,658,628,880.06142701,785.93857299,807,652,629,651.06142701,0.451374979814,-0.00544679150858,0.0490142261624,0.999998732258,0.000111790148048,-0.00158799920196,-3.52767371772e-05,1793244772525536512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.481843839,715,680.481843839,657.481843839,628,880,785.481843839,807,652,629,651.518156161,0.451248465999,-0.00544614260292,0.0490173461365,0.999998735829,0.000110698650029,-0.00158582019565,-3.55153592255e-05,1793244772542203136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657,628,880.095853723,785,807,652,629,651.904146277,0.451115453873,-0.00544551456241,0.049020747091,0.999998740475,0.000109447268022,-0.00158296886383,-3.57768887664e-05,1793244772558869760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657,628,880.67190321,785,807,652,629,651.32809679,0.450959596701,-0.00544222011153,0.0490227731802,0.999998744404,0.000111448360621,-0.00158032864935,-3.64755670156e-05,1793244772575536640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.252776673,714.747223327,680,657,628.252776673,880.747223327,785,807,652,629,651.252776673,0.4507924751,-0.00543815210347,0.0490271217603,0.999998754304,0.000114486248686,-0.00157381727518,-3.71821668627e-05,1793244772592203264
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.840033297,714.159966703,680,657,628.840033297,880.159966703,785,807,652,629,651.840033297,0.450610448153,-0.0054330605068,0.049034543514,0.999998772004,0.000118896048406,-0.00156218349282,-3.78992487064e-05,1793244772608869888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.421608939,657.421608939,628.578391061,880.421608939,785,807,652,629.421608939,652,0.450412496702,-0.00542920158107,0.0490441756712,0.99999880255,0.000119843586502,-0.00154241430321,-3.86529037597e-05,1793244772625536512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.998947274,714,681,658,628.001052726,881,785,807,652,630,652,0.450208525241,-0.00542581321965,0.0490546393063,0.999998837497,0.000119485484793,-0.00151959646087,-3.94203585022e-05,1793244772642203136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.422250239,714,681,658,628.577749761,881,785,807,652,630,652,0.449972687505,-0.00542739152898,0.0490672672474,0.999998874944,0.000113957123061,-0.00149516071107,-4.02466633755e-05,1793244772658869760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.15389818,681,658,629,881,785.15389818,807,652,630,652,0.449724057789,-0.00543057035743,0.0490777429863,0.999998906112,0.000106716040087,-0.0014746853706,-4.11034535706e-05,1793244772675536640
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.728546613,681,658,629,881,785.728546613,807,652,630,652,0.44944045545,-0.00543812492825,0.0490823347055,0.999998921455,9.47924603191e-05,-0.00146503760559,-4.20435890942e-05,1793244772692203264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.311418174,745,715,681,658,629.311418174,881,785.688581826,807,652,629.688581826,652,0.44913158248,-0.00544251799449,0.0490853889262,0.999998932244,8.57738257773e-05,-0.00145817592487,-4.33136509741e-05,1793244772708869888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.901652047,745,715,681,658,629.901652047,881,785.098347953,807,652,629.098347953,652,0.448800084439,-0.00544408053603,0.0490870666102,0.999998939064,7.93560153957e-05,-0.00145380865135,-4.48790992175e-05,1793244772725536512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.517197084,745,714.517197084,680.517197084,658,630,881,785,807,652,629.482802916,652,0.448443746502,-0.00543821401018,0.0490913153301,0.999998950149,8.18670852822e-05,-0.00144597185171,-4.65194663228e-05,1793244772742203136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.938289261,785,807,652,630,652,0.448078451927,-0.00543130402163,0.049096576879,0.999998962505,8.58273946937e-05,-0.00143711849957,-4.80914874256e-05,1793244772758869760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.362935086,785,807,652,630,652,0.447679945656,-0.00542807221876,0.0491059899336,0.999998978881,8.69909933598e-05,-0.00142557790363,-4.89699591162e-05,1793244772775536384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.216677759,785,806.783322241,652,630,651.783322241,0.447270973305,-0.00542484510396,0.0491119186741,0.999998993039,8.70451438478e-05,-0.00141556166769,-5.02977613554e-05,1793244772792203264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,630,880.803566851,785,806.196433149,652,630,651.196433149,0.446844118843,-0.0054216259993,0.0491118941837,0.999999003554,8.52037130738e-05,-0.00140814992398,-5.23932808337e-05,1793244772808870144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.385359247,658,630.385359247,880.614640753,785.385359247,806.385359247,652,630,651.385359247,0.446376753874,-0.00541741125838,0.0491140632538,0.999999011274,8.48931003641e-05,-0.00140258635869,-5.47320013361e-05,1793244772825536512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.964587546,658,630.964587546,880.035412454,785.964587546,806.964587546,652,630,651.964587546,0.445889008628,-0.00541269562635,0.0491173358746,0.999999017586,8.5352621678e-05,-0.00139795258732,-5.71930729377e-05,1793244772842203136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.458489502,658.541510498,631,880.541510498,786,807,652,630,652,0.44539430733,-0.00541302201703,0.0491317075741,0.999999056191,7.96376734713e-05,-0.00137035273418,-5.83841092842e-05,1793244772858870272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745.118050031,714,680.118050031,659,631.118050031,880.881949969,786,807,652,630,652,0.444892759649,-0.00541418328205,0.0491518114794,0.99999910079,7.2843900376e-05,-0.00133776540836,-5.9128145119e-05,1793244772875537152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745.693685112,714,680.693685112,659,631.693685112,880.306314888,786,807,652,630,652,0.444366429959,-0.00541730801677,0.0491913329935,0.999999162109,6.34269020734e-05,-0.00129164258383,-5.84600912644e-05,1793244772892204032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745.724648506,714,681,659,632,880.550702988,786,807,652,630.275351494,652,0.443818508874,-0.0054148553498,0.0492207115075,0.999999208984,6.03765199348e-05,-0.00125496462866,-5.87388483449e-05,1793244772908870656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.136122267,714,681,659,632,881.727755465,786,807,652,630.863877733,652,0.443246030456,-0.00540605914999,0.0492385537482,0.999999240854,6.45672936491e-05,-0.00122902891928,-6.0094473641e-05,1793244772925537280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.444921045,745,714,680.555078955,659,632,881.11015791,786,806.555078955,652,631,652,0.442619978993,-0.00539996324792,0.0492457019357,0.999999255117,6.35970859586e-05,-0.00121728280657,-6.27940370062e-05,1793244772942204160
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.976492435,745,714,680,659,632.023507565,880,786.023507565,806,651.976492435,631,652,0.441979904911,-0.00539510072444,0.0492514909366,0.999999268138,6.0655017323e-05,-0.00120653158088,-6.57787786725e-05,1793244772958871296
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.402710335,745,714,680,659,632.597289665,880,786.597289665,806,651.402710335,631,652,0.441388912386,-0.00540009068066,0.0493007846936,0.999999370453,4.7905032842e-05,-0.00111912784762,-6.59733699064e-05,1793244772975537664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.171345981,659.342691962,632.828654019,880.171345981,787,806,651.171345981,631,652,0.440779385516,-0.0054057208265,0.049348754562,0.999999459626,3.42179336853e-05,-0.00103692239687,-6.60908104032e-05,1793244772992204032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.746047781,660.492095563,632.253952219,880.746047781,787,806,651.746047781,631,652,0.440126228036,-0.00541285800597,0.0493936079365,0.999999530152,1.83248275843e-05,-0.000966953946235,-6.60266355403e-05,1793244773008870656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.331788031,714,681,660.336423939,632.331788031,880.668211969,786.668211969,806.331788031,652,631,652,0.439421279728,-0.005410138789,0.0494052224257,0.999999545864,1.24567942086e-05,-0.000950488409144,-6.8475226355e-05,1793244773025537024
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.9262679,714,681,659.1474642,632.9262679,880.0737321,786.0737321,806.9262679,652,631,652,0.438675326271,-0.00539961580947,0.049390520159,0.999999520574,1.45260726335e-05,-0.000976383594276,-7.29132894498e-05,1793244773042203648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.495245074,659.504754926,633.504754926,880,787.009509852,807,652,631,652,0.437868468666,-0.00539350961381,0.0493628215983,0.999999474924,2.4570078092e-05,-0.001021814138,-7.37766299042e-05,1793244773058870528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.080189426,745.919810574,714,680,660,633.919810574,880.080189426,787.919810574,807,652,631,652,0.437061942297,-0.00538855352748,0.0493415454073,0.999999436855,4.69811718318e-05,-0.00105789278041,-7.03257077198e-05,1793244773075537152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.650803693,745.349196307,714,680,660,633.349196307,880.650803693,787.349196307,807,652,631,652,0.43631018099,-0.0053868066746,0.0493708012732,0.999999469454,0.000138121679196,-0.00101986045514,-4.35849639132e-05,1793244773092203776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.769330139,745,714,680,660,633,880.769330139,787,806.769330139,652,631,652,0.435538376289,-0.00538171091447,0.0493923676937,0.999999489362,0.000193263510779,-0.000991507267979,-2.89378584308e-05,1793244773108870656
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.174872788,745,714,680,660,633,880.174872788,787,806.174872788,652,631,652,0.434734961202,-0.00537133362072,0.0494018071594,0.99999950243,0.000191632150936,-0.000978418975268,-3.33635241896e-05,1793244773125537024
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.988417865,745,714,680,659.011582135,633,880,787,806,652,631,652,0.433134137802,-0.00537260261988,0.0494203693891,0.999999553501,0.000162664101679,-0.00092991141212,-4.24636280962e-05,1793244773158870528
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.437798334,745,714,680.562201666,660.124403332,633,880,787,806,652,631,652,0.432314412997,-0.00538104140587,0.0494557994792,0.999999598237,0.000141601448629,-0.000884092261377,-4.30817569455e-05,1793244773175537152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.727707506,660.727707506,633,880,787,806,652,631,652,0.431486810813,-0.00538595006568,0.0494823347394,0.999999630833,0.000125675225764,-0.000848866559461,-4.4335047758e-05,1793244773192203264
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.578039367,659.578039367,633,880,787,806,652,631,652,0.430635129645,-0.00537909592064,0.0494784889243,0.999999630385,0.000126586196607,-0.000849065619264,-4.7894763929e-05,1793244773208869888
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.19584701,880,787,806,652,630.80415299,652,0.425413407836,-0.0053658938205,0.0494873604549,0.999999640728,0.000137904934519,-0.000834785793504,-5.15550652688e-05,1793244773308870144
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633.770777842,880,787,806,652,630.229222158,652,0.424627166505,-0.00536830506697,0.0495281792023,0.999999713455,0.00013154413264,-0.000743685313673,-5.21303305358e-05,1793244773325537024
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.952776599,745,714,680,661.858329796,634,879.047223401,787,806,652,630,652,0.423004519441,-0.00537155093937,0.0495997834184,0.999999790598,0.000130719915859,-0.000631950120723,-4.85231141877e-05,1793244773358870016
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765.470371359,745.529628641,714,680,660.411114078,633.470371359,879.529628641,786.470371359,806.529628641,652,630,652,0.422126122321,-0.005370806482,0.049581258567,0.999999769946,0.000130179209991,-0.000663814995654,-5.01166756504e-05,1793244773375536896
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,745.318149359,714,680,659,633,880.681850641,786,807,652,630.681850641,652,0.420395591566,-0.00536753488949,0.0495701307754,0.999999756754,0.000133866842308,-0.000682529067983,-5.22164328456e-05,1793244773408870656
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.130818989,633.565409495,879,787,805,652.434590505,630.434590505,652,0.417951624795,-0.00536478479845,0.0496013519584,0.999999766837,0.00013762046054,-0.00066696279368,-5.04612003416e-05,1793244773458870272
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.170302381,633.585151191,879.585151191,787,805.585151191,653,631,652,0.416418718352,-0.00536996604281,0.0496216230934,0.999999795838,0.000129742193037,-0.000623629188191,-5.07629082952e-05,1793244773492203776
+427,7.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661,634,879.839552041,787,806,653,630.839552041,652,0.415677655991,-0.00537194481174,0.0496471145257,0.999999824621,0.000127481678069,-0.000576163627799,-5.0414588079e-05,1793244773508870144
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+430,7.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.164521255,634,879,787,805.082260628,652.082260628,630.917739372,652,0.413418242565,-0.00536689113385,0.049634937391,0.999999811611,0.000132297589624,-0.000597011352441,-5.34111388525e-05,1793244773558870528
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+432,7.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.147043282,633.073521641,879,787,806,653,630.073521641,652,0.412051684734,-0.00536821540826,0.0496465102307,0.999999826821,0.000132147611529,-0.000570921465972,-5.42491169258e-05,1793244773592203520
+433,7.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.296418704,633.648209352,879,787,806,653,630.648209352,652,0.411419428353,-0.00537155176195,0.0496863947637,0.999999856848,0.000130312624016,-0.000516460978282,-5.0895232279e-05,1793244773608870144
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+436,7.266666667,POSE2_TO_POSE3_RETREAT,765.617027088,745,714,679.382972912,659.617027088,634,879,787,805.382972912,653,631,651.617027088,0.409506260431,-0.00537093563979,0.0496930469029,0.99999985834,0.000134624005351,-0.000512393981804,-5.14588538077e-05,1793244773658871296
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+438,7.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.556680282,634,879.556680282,787,806,653,631,651.556680282,0.408413161701,-0.00537616287312,0.0497204498326,0.999999884425,0.000123372056736,-0.000461769327655,-5.19390010692e-05,1793244773692204544
+439,7.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.872302833,787,806,653,630.872302833,652,0.407907184322,-0.00537691462366,0.0497435647626,0.999999902472,0.000120620707451,-0.000421706014581,-5.16754738644e-05,1793244773708871168
+440,7.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.317906878,787,806,653,630.317906878,652,0.407413888822,-0.00537651310291,0.049752717845,0.999999905885,0.000122106212533,-0.000413099127656,-5.16632520526e-05,1793244773725537536
+441,7.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.738001033,787,806,653,630,652,0.406900930341,-0.00537660494815,0.0497495254612,0.999999900956,0.000119909116498,-0.000425388062317,-5.24940657763e-05,1793244773742203904
+442,7.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,878.123802862,787,806,653,630,652,0.406361539396,-0.005377360014,0.0497297373497,0.99999988369,0.00011276158398,-0.000465766770957,-5.44581527863e-05,1793244773758870528
+443,7.383333333,POSE2_TO_POSE3_RETREAT,765.459731458,745,713.540268542,680,659.540268542,634,878.919462916,787,806,653,630,652,0.405892332057,-0.00538062185051,0.0497170994529,0.99999987624,0.000105698651544,-0.000482911940125,-5.60718381435e-05,1793244773775537408
+444,7.400000000,POSE2_TO_POSE3_RETREAT,765.964495805,745,713.035504195,679.964495805,659.035504195,634,879.964495805,787,806,653,630,652,0.405445000319,-0.005384233725,0.04970772893,0.999999872242,9.89107133651e-05,-0.000492360969558,-5.75540845874e-05,1793244773792204032
+445,7.416666667,POSE2_TO_POSE3_RETREAT,765.389032204,745,713.610967796,679.389032204,659.610967796,634,879.389032204,787,806,653,630,652,0.40506089533,-0.00538354454238,0.049720597007,0.999999881367,9.59801609459e-05,-0.000473967946589,-5.83827049438e-05,1793244773808871680
+446,7.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.191055447,660,634,879,787,805.808944553,653,630.191055447,652,0.404695510353,-0.00538404839932,0.0497398971749,0.999999895458,9.21322967976e-05,-0.000444035603377,-5.85570639305e-05,1793244773825538816
+447,7.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.780792174,660,634,879,787,805.219207826,653,630.780792174,652,0.404369189049,-0.00538704180872,0.0497726193838,0.999999918565,8.63702502758e-05,-0.000390023807184,-5.73661553982e-05,1793244773842204672
+448,7.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.636171336,660,634,878.636171336,787,805.363828664,653,630.636171336,652,0.404057148472,-0.00538931609564,0.0498003016784,0.999999934546,8.16310225603e-05,-0.00034799497301,-5.60636466781e-05,1793244773858871296
+449,7.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.057098703,660,634,878.057098703,787,805.942901297,653,630.057098703,652,0.403753556457,-0.0053911649442,0.0498250023224,0.9999999465,7.74969021585e-05,-0.000313055350631,-5.46951142856e-05,1793244773875537920
+450,7.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.519891539,659.480108461,633.480108461,878.519891539,787,806,653,630.519891539,652,0.403451741424,-0.00539253766774,0.0498219143986,0.999999942746,7.49328480727e-05,-0.000325367083796,-5.50379865739e-05,1793244773892204288
+451,7.516666667,POSE2_TO_POSE3_RETREAT,765,745.09803715,714,680,659.09803715,633.09803715,879,787,806,653,630.90196285,652,0.40315599181,-0.00539287429896,0.0498146640359,0.999999936508,7.58890790666e-05,-0.000343776459642,-5.51597302336e-05,1793244773908870912
+452,7.533333333,POSE2_TO_POSE3_RETREAT,765,745.683053537,714,680,659.683053537,633.683053537,879,787,806,653,630.316946463,652,0.402889405234,-0.00538832306966,0.0498018371452,0.999999926942,9.34784663947e-05,-0.000366799558813,-5.32531341718e-05,1793244773925537280
+453,7.550000000,POSE2_TO_POSE3_RETREAT,765,745.734724473,714,680,660.530551053,634,879,787,806,653,630,652,0.402637142491,-0.00538125454766,0.0497920317567,0.999999916949,0.000129682188584,-0.000383408581593,-4.77798362669e-05,1793244773942203904
+454,7.566666667,POSE2_TO_POSE3_RETREAT,765,745.155806412,714,680,661.688387175,634,879,787,806,653,630,652,0.402401815226,-0.00537120976168,0.0497857987739,0.99999990462,0.000187894148413,-0.000392434063754,-3.80895289203e-05,1793244773958870784
+455,7.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.575800239,661.151600478,634,879,787,805.575800239,653,630.424199761,652,0.402205583479,-0.0053712623931,0.0497857987966,0.999999904383,0.000195086508512,-0.000389662704221,-3.6570807243e-05,1793244773975537408
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+459,7.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.731318773,660,634,879,787,806,653,630.731318773,652,0.401642544749,-0.00539995071433,0.0498189224627,0.999999937051,0.000143509371287,-0.000322226519778,-3.83848727219e-05,1793244774042203648
+460,7.666666667,POSE2_TO_POSE3_RETREAT,765,745.683198629,714,680,660,634,879,787,806,653,631,652,0.401538425485,-0.00540048141007,0.0498264490078,0.999999941752,0.000140719244758,-0.000308537742185,-3.8706445424e-05,1793244774058870272
+461,7.683333333,POSE2_TO_POSE3_RETREAT,765,745.090788097,714,680,660,634,879,787,806,653,631,652,0.401438609879,-0.00539658823443,0.0498304898063,0.999999943448,0.000145135200509,-0.000300765791371,-3.9753321077e-05,1793244774075536896
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+495,8.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.370242463,878.370242463,787,806,653,630.629757537,652,0.400990388382,-0.00540586635528,0.0498494984084,0.999999958611,0.000125215327367,-0.000255726928801,-4.12718499217e-05,1793244774642203904
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..272a47fe1dac8737ec3b87306af8ad3b9d427eef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,497 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3e889e3ab3e1b3ea54b87cb4cb8ca5061b90490
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea06cc6bc7787f13e226112f1b8c492bcb177eef879f47efdfd7e0b39e49f84
+size 25829171
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4f6fd6e9af33e97859c59b28192c03aaaa1e951
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+13,0.216666667,BASELINE,765,745,714,679,660,634,878.555920397,787.444079603,806.555920397,653.444079603,630.555920397,652,0.400987007169,-0.00540945669791,0.0498497551694,0.999999958921,0.000121915041738,-0.000256217417884,-4.05966609281e-05,1793244774984655872
+14,0.233333333,BASELINE,765,745,714,679,660,634,879,787,806.85686813,652.85686813,631,652,0.40098612665,-0.00540962223973,0.0498489599463,0.999999958745,0.00012243213536,-0.000256653258449,-4.06233307857e-05,1793244775001322496
+15,0.250000000,BASELINE,765,745,714,679,660,634,879,787,806.279019249,652.279019249,631,652,0.40098785798,-0.00540925678874,0.0498502595412,0.99999995935,0.000121661066246,-0.000254636430705,-4.07272352387e-05,1793244775017989376
+16,0.266666667,BASELINE,765,745,714,679,660,634,878.703038617,787,805.703038617,652.296961383,630.703038617,652,0.400988846713,-0.00540935648279,0.0498512032854,0.999999959818,0.000120447752797,-0.000253373112058,-4.07147331101e-05,1793244775034656256
+17,0.283333333,BASELINE,765,745,714,679,660,634,878.128802414,787,805.128802414,652.871197586,630.128802414,652,0.400989142078,-0.00540989048588,0.0498518147695,0.99999996016,0.000118821512919,-0.000252813349991,-4.05935413755e-05,1793244775051322880
+18,0.300000000,BASELINE,765,745,714,679.4569228,660.4569228,634,878.4569228,787,805,653,630,652,0.400989744163,-0.00540900007308,0.0498526692,0.999999960132,0.00012122259647,-0.000251783844921,-4.05627935106e-05,1793244775067989248
+19,0.316666667,BASELINE,765,745,714,679.954828588,660.954828588,634,879.045171412,787,805.045171412,653,630,652.045171412,0.400990228434,-0.00540792868804,0.0498533516514,0.999999959966,0.000124346119736,-0.000250923077956,-4.05310138653e-05,1793244775084655872
+20,0.333333333,BASELINE,765,745,714,679.376016501,660.376016501,634,879.623983499,787,805.623983499,653,630,652.623983499,0.400988273126,-0.00540958525164,0.0498511724742,0.999999959549,0.000122246718256,-0.000253660401635,-4.01780829709e-05,1793244775101322496
+21,0.350000000,BASELINE,765,745,714,679,660,634,879.798239876,787,806,653,630.201760124,652.798239876,0.400987793319,-0.00541045060019,0.049850345412,0.999999959499,0.000120892301839,-0.000254534891876,-3.99862384475e-05,1793244775117988864
+22,0.366666667,BASELINE,765,745,714,679,660,634,879.222383232,787,806,653,630.777616768,652.222383232,0.400990049336,-0.00540984890543,0.0498520253939,0.999999960145,0.000120919210742,-0.000251955381633,-4.00930746424e-05,1793244775134655488
+23,0.383333333,BASELINE,765,745,714,679.352149931,660,634,879,787,806,653,630.647850069,652,0.400990925577,-0.00540923027025,0.0498527716692,0.999999960372,0.000121346949636,-0.000250799376649,-4.03765009806e-05,1793244775151322368
+24,0.400000000,BASELINE,765,745,714,679.9258505,660,634,879,787,806,653,630.0741495,652,0.40099093375,-0.00540860097717,0.049852930515,0.999999960339,0.00012202686561,-0.000250538951589,-4.07710267652e-05,1793244775167988992
+25,0.416666667,BASELINE,765,745,714,680,660,634.515213683,879.515213683,787.515213683,806,653,630,652,0.400991649582,-0.00540870914557,0.049853525892,0.999999960617,0.000121500670469,-0.000249743160664,-4.04052848839e-05,1793244775184655872
+26,0.433333333,BASELINE,765,745,714,679.89561902,660,635,879.89561902,787.89561902,806,653,630.10438098,652,0.400991920377,-0.00540886391406,0.0498538314283,0.99999996076,0.000121147966885,-0.000249399331897,-4.00305240713e-05,1793244775201322496
+27,0.450000000,BASELINE,765,745,714,679.317882712,660,635,879.317882712,787.317882712,806,653,630.682117288,652,0.400989696644,-0.0054087336064,0.0498525287325,0.999999960087,0.000122393887406,-0.000251465464386,-4.01266167434e-05,1793244775217989120
+28,0.466666667,BASELINE,765,745,714,679.249562269,660.249562269,634.750437731,879,787,806,653,631,652,0.400989052696,-0.00540831313631,0.049851926873,0.999999959864,0.000123052910129,-0.000251978388472,-4.04701465467e-05,1793244775234655488
+29,0.483333333,BASELINE,765,745,714,679.804417686,660.804417686,634.195582314,879,787,806,653,631,652,0.400990341322,-0.00540753770631,0.0498521823569,0.999999960193,0.000122993972177,-0.000250591250041,-4.11163697804e-05,1793244775251322112
+30,0.500000000,BASELINE,765,745,714,680,661,634,879,787,806,653,630.613760482,652,0.400989976069,-0.00540734960286,0.0498519517216,0.999999959885,0.000123713403431,-0.000251466533859,-4.10931587648e-05,1793244775267988736
+31,0.516666667,BASELINE,765,745,714,680,661,634,879,787,806,653,630.017258601,652,0.400988710471,-0.00540748123023,0.049851456451,0.999999959227,0.000124856565921,-0.00025357344273,-4.07055188669e-05,1793244775284655616
+32,0.533333333,BASELINE,765,745.57587481,714,679.42412519,660.42412519,634,879,787,806,653,630.57587481,652,0.400989352337,-0.00540999386308,0.0498520718712,0.999999959973,0.000122604541246,-0.000251802552243,-4.02260070078e-05,1793244775301322496
+33,0.550000000,BASELINE,765,745.8349264,713.8349264,679.1650736,660,634,879,787,806,653,630.8349264,652,0.400989865419,-0.00541144646709,0.0498526316329,0.999999960483,0.000121222389253,-0.000250492772022,-3.98987852228e-05,1793244775317989120
+34,0.566666667,BASELINE,765,745.255355461,713.255355461,679.744644539,660,634,879,787,806,653,630.255355461,652,0.400989912417,-0.00541005921923,0.0498529685406,0.999999960318,0.000122278485844,-0.000250630950639,-3.99608350102e-05,1793244775334656000
+35,0.583333333,BASELINE,765,745,713.321290402,680,660,634,879,787,806,653,630.321290402,652,0.400990107191,-0.00540861112259,0.0498535082075,0.999999960292,0.000123468255448,-0.000250119971353,-4.01383152366e-05,1793244775351322368
+36,0.600000000,BASELINE,765,745,713.895632507,680,660,634,879,787,806,653,630.895632507,652,0.400990418354,-0.00540711510065,0.0498542075699,0.999999960376,0.000124763307436,-0.000249097708482,-4.04067096989e-05,1793244775367988736
+37,0.616666667,BASELINE,765,745,714,680,660,634,879.469595392,787,805.530404608,653,631,652,0.400990051847,-0.00540822741075,0.0498541410614,0.999999960489,0.000123036289153,-0.000249509507693,-4.03688772355e-05,1793244775384655616
+38,0.633333333,BASELINE,765,745.045108994,714,680,660,634,879.954891006,787,805.045108994,653,631,652.045108994,0.400989499598,-0.00540994273708,0.0498538234217,0.999999960586,0.000120601033125,-0.00025032332923,-4.0258888673e-05,1793244775401322240
+39,0.650000000,BASELINE,765,745.640570016,714,680,660,634,879.359429984,787,805.640570016,653,631,652.640570016,0.400988517257,-0.00541194822488,0.0498525168833,0.999999960476,0.000117712830401,-0.00025215661804,-4.00982419213e-05,1793244775417989120
+40,0.666666667,BASELINE,765,746,714,679.772047709,660.227952291,634,879,787,806,653,631,652.772047709,0.400988409333,-0.00541223383447,0.0498518291066,0.999999960412,0.000117286180232,-0.000252592251906,-4.02218378986e-05,1793244775434656000
+41,0.683333333,BASELINE,765,746,714,679.19696785,660.80303215,634,879,787,806,653,631,652.19696785,0.400989632979,-0.00540990039968,0.0498520835852,0.99999996042,0.000120608002105,-0.000250899525566,-4.07782809805e-05,1793244775451322624
+42,0.700000000,BASELINE,765,746,714,679.377711439,660.622288561,634,879,787,806,653,630.622288561,652,0.400989366188,-0.00540951709488,0.0498520228937,0.99999996027,0.000120814664537,-0.00025139072611,-4.08195541514e-05,1793244775467989504
+43,0.716666667,BASELINE,765,746,714,679.952182044,660.047817956,634,879,787,806,653,630.047817956,652,0.400988322991,-0.00541014966076,0.0498517980224,0.999999960039,0.000119398563803,-0.000253019587858,-4.05924626456e-05,1793244775484656128
+44,0.733333333,BASELINE,765,746,714,679.457178144,660,634,879,787,805.457178144,653,630.542821856,652,0.400987808769,-0.00541037773219,0.0498516419519,0.99999996012,0.000118154023412,-0.000253268012441,-4.0681110777e-05,1793244775501322752
+45,0.750000000,BASELINE,765,745.868491583,714,679,660,634,879.131508417,787,805,653,631,652.131508417,0.400987807087,-0.00541051163774,0.0498516169709,0.999999960272,0.000117384066764,-0.000253015648607,-4.07441985581e-05,1793244775517989376
+46,0.766666667,BASELINE,765,745.291397599,714,679,660,634,879.708602401,787,805,653,631,652.708602401,0.400989379296,-0.00541045092328,0.0498520149896,0.999999960569,0.000118169347602,-0.000251491159267,-4.06235465577e-05,1793244775534656000
+47,0.783333333,BASELINE,765,745,714,679,660,634,879.714081482,787,805.285918518,653,630.714081482,652.714081482,0.400988924264,-0.00541030245952,0.0498515206001,0.999999960309,0.000118826932634,-0.000252207213478,-4.066471809e-05,1793244775551322624
+48,0.800000000,BASELINE,765,745,714,679,660,634,879.136538728,787,805.863461272,653,630.136538728,652.136538728,0.400986401537,-0.00541006449535,0.0498501159938,0.999999959476,0.000119354273693,-0.000255208522775,-4.08709424502e-05,1793244775567989504
+49,0.816666667,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400986396619,-0.00540984848221,0.049850498666,0.999999959374,0.000120702648252,-0.000255043409496,-4.04472660156e-05,1793244775584656128
+50,0.833333333,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400987190032,-0.00540967353688,0.0498513923601,0.999999959499,0.000122211632783,-0.000253922445391,-3.98777078351e-05,1793244775601323008
+51,0.850000000,BASELINE,765,745,714,679,660,634,879,787,806,653,630,652,0.400988289864,-0.00541005731042,0.0498515958762,0.999999959674,0.000122194862199,-0.000253200920184,-4.01092812103e-05,1793244775617989632
+52,0.866666667,BASELINE,765,745,714,679.191946249,660.191946249,634,879,787,806,653,630,652,0.400988997894,-0.00540996407329,0.0498519207254,0.999999959856,0.000122101776456,-0.000252475307287,-4.04500646378e-05,1793244775634656256
+53,0.883333333,BASELINE,765,745,714,679.768741658,660.768741658,634,879,787,806,653,630,652,0.400988920367,-0.00540891443738,0.0498524888458,0.999999960048,0.000121855680042,-0.00025174149868,-4.10098124596e-05,1793244775651322624
+54,0.900000000,BASELINE,765,745.344702642,714,680,660.655297358,634,879,787,806,653,630,652,0.400989250448,-0.00540950758549,0.0498528807859,0.99999996035,0.000120731725443,-0.000251085591398,-4.09969808959e-05,1793244775667989248
+55,0.916666667,BASELINE,765,745.920105145,714,680,660.079894855,634,879,787,806,653,630,652,0.400989853329,-0.00541120020314,0.0498531548135,0.999999960722,0.00011902024486,-0.000250481821328,-4.06009379023e-05,1793244775684655872
+56,0.933333333,BASELINE,765,746,713.492774942,679.492774942,660,634.507225058,879,787,806,653,630.507225058,652.507225058,0.400988956071,-0.00541046624082,0.049852221707,0.99999996044,0.000119202767804,-0.000251523026747,-4.05819175648e-05,1793244775701322496
+57,0.950000000,BASELINE,765,745.905490891,713.094509109,679,660,634.905490891,879,787,806.094509109,653,631,653,0.400988310723,-0.0054092879898,0.049851507556,0.999999960165,0.000119737088427,-0.000252346512583,-4.06610563703e-05,1793244775717989120
+58,0.966666667,BASELINE,765,745.32704085,713.67295915,679,660,634.32704085,879,787,806.67295915,653,631,653,0.400990193869,-0.00540783819077,0.0498529112326,0.999999960477,0.000120509062947,-0.000250697002278,-4.093154395e-05,1793244775734656256
+59,0.983333333,BASELINE,765,745,714,679,660,634,879,787,806.749643384,653,630.749643384,652.749643384,0.400990952835,-0.00540759044541,0.04985357783,0.999999960532,0.000121464271291,-0.00025001520541,-4.09241611917e-05,1793244775751322880
+60,1.000000000,BASELINE,765,745,714,679,660,634,879,787,806.17361506,653,630.17361506,652.17361506,0.400990249434,-0.0054089063688,0.0498532856119,0.999999960257,0.000122657836027,-0.000250592240184,-4.05553160549e-05,1793244775767989504
+61,1.016666667,BASELINE,765,745,714,679,660.400471375,634,879.400471375,787,806,653,630,652,0.400989730169,-0.0054092034805,0.0498528452972,0.999999960217,0.000121616317139,-0.000251248751803,-4.06061140853e-05,1793244775784656128
+62,1.033333333,BASELINE,765,745,714,679,660.973719979,634,879.973719979,787,806,653,630,652,0.400989290348,-0.00540906104144,0.0498523410886,0.999999960276,0.000119610505659,-0.00025193955245,-4.08379607406e-05,1793244775801322496
+63,1.050000000,BASELINE,765,745,714,679.56538312,661.56538312,634,879.43461688,787,806,653,630.56538312,652,0.400987795318,-0.00541036174856,0.0498516790636,0.999999960173,0.000117685720571,-0.000253300036747,-4.05270588735e-05,1793244775817989120
+64,1.066666667,BASELINE,765,745,714,680,661.69122464,634,879,787,806,653,631,652,0.400986999952,-0.00541150572475,0.0498513351594,0.999999960157,0.000116370958108,-0.000254011417383,-4.02845006507e-05,1793244775834655744
+65,1.083333333,BASELINE,765,745,714,680,660.532717703,634,879,787,806,653,631,652,0.400988269539,-0.00541202757146,0.0498518875713,0.99999996041,0.000116724228582,-0.000252847956308,-4.03017832098e-05,1793244775851322368
+66,1.100000000,BASELINE,765,745,714,679.690170694,660.309829306,634,879,787,806,653,631,652,0.400988847165,-0.00541178815617,0.0498521649686,0.999999960447,0.000118032752773,-0.000252091811539,-4.0293441772e-05,1793244775867988992
+67,1.116666667,BASELINE,765,745,714,679.116591984,660.883408016,634,879,787,806,653,631,652,0.400988835742,-0.00541090069886,0.0498522082532,0.999999960299,0.000120154458894,-0.00025168240431,-4.02632873094e-05,1793244775884656384
+68,1.133333333,BASELINE,765,745,714.468945413,679,661,634,879.468945413,787,806,653,631,652,0.400989461611,-0.00541105681985,0.0498522174065,0.999999960588,0.000118800361197,-0.000251181638682,-4.02212155037e-05,1793244775901323264
+69,1.150000000,BASELINE,765,745,714.943080149,679.056919851,660.943080149,634,879.943080149,787,806,653,630.943080149,652,0.40099023263,-0.00541156376209,0.0498523041802,0.999999960993,0.000116656390257,-0.000250586719788,-4.0149256571e-05,1793244775917990144
+70,1.166666667,BASELINE,765,745,714.360773553,679.639226447,660.360773553,634,879.360773553,787,806,653,630.360773553,652,0.400990842639,-0.00541285131816,0.0498531877901,0.999999961463,0.000115406982722,-0.000249337883138,-3.98294954853e-05,1793244775934656256
+71,1.183333333,BASELINE,765,745,714,679.781760793,660,634,879,787,806,653,630.218239207,652,0.40099126127,-0.00541303780355,0.0498537918217,0.99999996169,0.000115964794188,-0.000248176614523,-3.97579291305e-05,1793244775951322368
+72,1.200000000,BASELINE,765,745,714,679.208112058,660,634,879,787,806,653,630.791887942,652,0.400991368238,-0.00541143116031,0.0498539405513,0.999999961517,0.000119465719391,-0.000247157953052,-4.00905557816e-05,1793244775967988992
+73,1.216666667,BASELINE,765,745,714,679.366065834,660,634,879,787,805.633934166,653,631,652,0.400989679794,-0.00541027672864,0.0498529732901,0.999999960938,0.000120412779694,-0.000248963561455,-4.05226825936e-05,1793244775984655616
+74,1.233333333,BASELINE,765,745,714,679.940544959,660,634,879,787,805.059455041,653,631,652,0.400986969163,-0.00540937975594,0.0498513706588,0.999999960123,0.000119905840698,-0.000252377119428,-4.1011458092e-05,1793244776001322496
+75,1.250000000,BASELINE,765,745,714,679.467805476,660,634,879,787,805.532194524,653,630.467805476,652,0.400988580736,-0.0054091403825,0.0498520106739,0.999999960332,0.000120567768231,-0.000251264081667,-4.0817063314e-05,1793244776017989376
+76,1.266666667,BASELINE,765,745,714,679.122157979,660.122157979,634,879.122157979,787,806,653,630.122157979,652,0.400989987098,-0.00540938933326,0.0498525519724,0.999999960534,0.000120901569729,-0.000250342535757,-4.05509794486e-05,1793244776034656256
+77,1.283333333,BASELINE,765,745,714,679.698483197,660.698483197,634,879.698483197,787,806,653,630.698483197,652,0.400988775442,-0.00541117157028,0.0498517637224,0.999999960275,0.000119513769724,-0.000252075725637,-4.03115786067e-05,1793244776051322880
+78,1.300000000,BASELINE,765.275525197,745,714,679.724474803,660.724474803,634,879.724474803,787,806,653,631,652,0.400988158074,-0.00541100803663,0.0498513561618,0.99999996013,0.000119234768622,-0.000252766517295,-4.03954298567e-05,1793244776067989760
+79,1.316666667,BASELINE,765.853353602,745,714,679.146646398,660.146646398,634,879.146646398,787,806,653,631,652,0.400988192751,-0.00540870962472,0.0498513662894,0.999999960115,0.000120172329551,-0.000252313601,-4.0833949755e-05,1793244776084656384
+80,1.333333333,BASELINE,765.561805626,745,714,679,660,634.438194374,879,787,806,653,631,652,0.400988070416,-0.00540945637745,0.049851199379,0.999999960309,0.000118314459867,-0.000252427810327,-4.08009143229e-05,1793244776101322752
+81,1.350000000,BASELINE,765,745,714,679,660,634.974929647,879,787,806,653,630.974929647,652,0.40098790142,-0.00541115863607,0.0498509955644,0.999999960543,0.000115763450843,-0.0002527146637,-4.06051048842e-05,1793244776117989120
+82,1.366666667,BASELINE,765,745,714,679,660,634.39578383,879,787,806,653,630.39578383,652,0.400987881347,-0.00541108919072,0.0498513068543,0.999999960225,0.000118905523389,-0.000252554257448,-4.03563309329e-05,1793244776134655744
+83,1.383333333,BASELINE,765,745,713.817588567,679,660.182411433,634,879,787,806,653,630.182411433,652,0.400987876465,-0.0054108123823,0.0498516037274,0.999999960059,0.000120900394037,-0.000252273137785,-4.02837579954e-05,1793244776151322368
+84,1.400000000,BASELINE,765,745,713.24144495,679,660.75855505,634,879,787,806,653,630.75855505,652,0.400987904369,-0.00541008798397,0.0498518694821,0.999999960241,0.000120419048181,-0.000251731460117,-4.05915121053e-05,1793244776167988736
+85,1.416666667,BASELINE,765,745,713.33343914,679,660.66656086,634,879,787,806.33343914,653,631,652,0.400988310675,-0.00541022327235,0.0498522778129,0.999999960474,0.000119563592703,-0.00025121412399,-4.05888197086e-05,1793244776184655360
+86,1.433333333,BASELINE,765,745,713.907414598,679,660.092585402,634,879,787,806.907414598,653,631,652,0.400988989952,-0.00541097872154,0.0498527889954,0.999999960743,0.000118438262063,-0.000250714347395,-4.03621774006e-05,1793244776201322240
+87,1.450000000,BASELINE,765,745,714,679,660,634,879.495792997,787,806.504207003,653,631,652,0.400988758262,-0.00541033878922,0.0498527001462,0.99999996063,0.000119631348735,-0.000250578574588,-4.04865817564e-05,1793244776217988864
+88,1.466666667,BASELINE,765,745,714,679.085213821,660,634,879.829572358,787,806,653,630.914786179,652,0.400988465148,-0.00540993321557,0.0498525084739,0.999999960558,0.000120328394422,-0.000250509817438,-4.06140884408e-05,1793244776234655488
+89,1.483333333,BASELINE,765,745,714,679.664615157,660,634,878.670769686,787,806,653,630.335384843,652,0.400988831898,-0.00541244317339,0.0498523897607,0.999999961152,0.000115562767088,-0.000250423703145,-4.03680324305e-05,1793244776251322112
+90,1.500000000,BASELINE,765,745,714,680,660,634,878.241450749,787,806,653,630,652,0.400989149561,-0.00541327709002,0.0498525484566,0.999999961395,0.000113829577737,-0.000250256032676,-4.0297128951e-05,1793244776267988736
+91,1.516666667,BASELINE,765,745,714,680,660,634,878.814759845,787,806,653,630,652,0.400989399754,-0.00541180739687,0.0498530884333,0.999999961178,0.000116264277511,-0.000249976268561,-4.04669612512e-05,1793244776284655360
+92,1.533333333,BASELINE,765,745,714,679.601802879,660,634,878.601802879,787,806,653,630,652,0.400989928087,-0.00541082955286,0.049853340006,0.99999996111,0.000118127273559,-0.00024937558046,-4.04606955537e-05,1793244776301322240
+93,1.550000000,BASELINE,765,745,714,679.013530983,660,634,878.013530983,787,806,653,630,652,0.400990589186,-0.00541008648718,0.0498534539124,0.999999961113,0.000119717373683,-0.000248621702993,-4.03703715353e-05,1793244776317988864
+94,1.566666667,BASELINE,765,745,714,679.56626041,660,634,878.56626041,787,806,653,630.56626041,652,0.400989372808,-0.00541103097317,0.049853107219,0.999999960895,0.000119415207957,-0.000249665945032,-4.02151088901e-05,1793244776334655488
+95,1.583333333,BASELINE,765,745,714,680,660.145389188,634,879,787,806,653,630.854610812,652,0.400988549169,-0.00541183278033,0.0498528209142,0.9999999608,0.000118702373254,-0.00025039267788,-4.01623969474e-05,1793244776351322112
+96,1.600000000,BASELINE,765,745,714,680,660.723141337,634,879,787,806,653,630.276858663,652,0.400989024914,-0.00541209213575,0.0498527464425,0.999999961088,0.000116900759741,-0.000250049301852,-4.04191999826e-05,1793244776367988736
+97,1.616666667,BASELINE,765,745,714,679.700853766,660.700853766,634,878.700853766,787,806,653,630.299146234,652,0.400988922276,-0.00541180669492,0.0498525635712,0.999999961031,0.000117070761292,-0.000250211833887,-4.03329784e-05,1793244776384655360
+98,1.633333333,BASELINE,765,745,714,679.126456588,660.126456588,634,878.126456588,787,806,653,630.873543412,652,0.400988287454,-0.00541101997523,0.0498522809591,0.999999960655,0.000119054888765,-0.00025083986293,-3.99311324059e-05,1793244776401322240
+99,1.650000000,BASELINE,765,745.459658297,714,679,660.459658297,634,878.459658297,787,806,652.540341703,631,652,0.400988898481,-0.00541079911333,0.0498525434874,0.999999960727,0.000119621325243,-0.000250284649205,-3.99319656678e-05,1793244776417988608
+100,1.666666667,BASELINE,765,745.951777633,714,679,661,634,879,787,806,652.048222367,631,652,0.400989654878,-0.00541074847885,0.0498528715222,0.999999960871,0.000119777458984,-0.000249616399885,-4.00338446782e-05,1793244776434655232
+101,1.683333333,BASELINE,765,745.372668153,714,679,661,634,879,787,806,652.627331847,631,652,0.400988139631,-0.00541081324259,0.0498522264563,0.999999960425,0.000119822629325,-0.000251381190088,-3.99966422248e-05,1793244776451321856
+102,1.700000000,BASELINE,765,745,714,679.20563433,660.79436567,634,879,787,806,653,631,652,0.400987326195,-0.00541081731002,0.0498520732503,0.999999960217,0.000120041704398,-0.000252104328567,-4.00024994159e-05,1793244776467988480
+103,1.716666667,BASELINE,765,745,714,679.782479962,660.217520038,634,879,787,806,653,631,652,0.40098777967,-0.00541071180838,0.0498528079505,0.99999996044,0.000120574712463,-0.000250947076107,-4.00860879247e-05,1793244776484655104
+104,1.733333333,BASELINE,765,745,714,679.641144796,660,634,879,787,806,653,630.641144796,652,0.400989633545,-0.00541088178504,0.0498534868022,0.999999961001,0.000119470165613,-0.000249225423163,-4.01483821067e-05,1793244776501321984
+105,1.750000000,BASELINE,765,745,714,679.065054251,660,634,879,787,806,653,630.065054251,652,0.40099233516,-0.00541121852429,0.0498541318456,0.999999961759,0.000117374314254,-0.000247162106589,-4.01977856365e-05,1793244776517988608
+106,1.766666667,BASELINE,765,745,714,679.52216338,660.52216338,634,879,787,805.47783662,653,630.52216338,652,0.400991087973,-0.00541004689182,0.0498533589471,0.999999961128,0.000119270673462,-0.000248782195189,-4.03113931328e-05,1793244776534655232
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,806,653,631,652,0.400989993821,-0.00541211357362,0.049853514219,0.999999961046,0.000119440410787,-0.000249106629514,-3.98481694549e-05,1793244776577004288
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.575696023,634,879,787,805.424303977,653,631,652,0.40099041485,-0.00541113104457,0.0498536986981,0.999999960973,0.000120662949839,-0.000248740676795,-4.02780192871e-05,1793244776593670912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.848424299,634,879,787,805,653,630.848424299,652,0.400990677557,-0.00541005598229,0.0498537364682,0.999999960938,0.000121725041312,-0.000248317086352,-4.05687743072e-05,1793244776610337792
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.272029764,634,879,787,805,653,630.272029764,652,0.400990496536,-0.00540872157841,0.0498533630592,0.999999961012,0.00012233744915,-0.000247731955479,-4.04696905842e-05,1793244776627004416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.31195019,660,634.31195019,879,786.68804981,805.31195019,653,630.31195019,652,0.400990472265,-0.005408744671,0.0498535343205,0.999999961112,0.000121879565389,-0.000247575732258,-4.03425042866e-05,1793244776643671040
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.902709672,660,634.902709672,879,786.097290328,805.902709672,653,630.902709672,652,0.400990588093,-0.0054099810427,0.0498541923875,0.999999961233,0.000120465095406,-0.000247802850523,-4.01902009757e-05,1793244776660337664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.516417923,660,634.516417923,879,786.483582077,805.516417923,653,630.516417923,652,0.400990676551,-0.00541155324666,0.0498544855287,0.999999961454,0.000119377381215,-0.000247470283277,-4.00054342605e-05,1793244776677004032
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.061841292,653,630,652,0.400990823453,-0.00541287400786,0.0498546798842,0.999999961617,0.000118711069664,-0.000247156228611,-3.98377166054e-05,1793244776693670912
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.634615428,653,630,652,0.400991497803,-0.00541157031091,0.0498546524993,0.999999961157,0.00012099413417,-0.000247906797683,-3.98637380021e-05,1793244776710337536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.786304773,745,714,679,660,634,879,787,806,653,630.213695227,652,0.400995729343,-0.00541000082071,0.0498561330291,0.999999961455,0.000123354793855,-0.000245515233836,-3.99418048524e-05,1793244776727004160
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.196115545,745,714,679,660,634,879,787,806,653,630.803884455,652,0.401006228039,-0.00540796304891,0.0498602702436,0.999999963052,0.000125852162568,-0.000237587775589,-4.01115667783e-05,1793244776743671040
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386970121,745,714,679.386970121,660.386970121,634,879.386970121,787,806,653,631,652,0.401036681866,-0.00540989699955,0.0498721396522,0.999999968516,0.00012373890843,-0.000214735483553,-3.92987042896e-05,1793244776760337664
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966520664,745,714,679.966520664,660.966520664,634,879.966520664,787,806,653,631,652,0.401077066611,-0.00541380752635,0.0498878570823,0.999999975146,0.000119331121461,-0.000184455664215,-3.79968267052e-05,1793244776777004288
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.459396093,661,634.540603907,879.459396093,787,806,653,630.459396093,652,0.401141896963,-0.00541591483479,0.0499080463021,0.999999982118,0.000119167404903,-0.000142254729535,-3.64259439032e-05,1793244776793670912
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.882786744,745.117213256,714,679.117213256,660.882786744,634.882786744,879,787,806,653,630.117213256,652,0.401209213368,-0.00541827529583,0.0499269436353,0.999999986761,0.000118833621364,-0.000105582501858,-3.47783609307e-05,1793244776810337792
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.294682261,745.705317739,714,679.705317739,660.294682261,634.294682261,879,787,806,653,630.705317739,652,0.401280496184,-0.00542209690983,0.0499395495443,0.999999988218,0.000116771281978,-9.40574462526e-05,-3.28889003531e-05,1793244776827004160
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.288993328,745.711006672,714,679.711006672,660,634,879,787,806,653,630.711006672,652,0.401359166935,-0.00542525760034,0.0499477779321,0.999999989388,0.00011466332155,-8.41404742843e-05,-3.15778671023e-05,1793244776843670784
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.868220968,745.131779032,714,679.131779032,660,634,879,787,806,653,630.131779032,652,0.40144525734,-0.00542775452902,0.0499516100002,0.999999990319,0.000112509544307,-7.58384920181e-05,-3.08477451531e-05,1793244776860337664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.447388673,879,787,805.552611327,653,630,652.447388673,0.401549721389,-0.00543134992274,0.049952074004,0.999999990557,0.000110687161142,-7.56300541584e-05,-3.0242929711e-05,1793244776877004544
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.026339396,714,679.026339396,660,634.973660604,879,787,805.026339396,652.973660604,630,652.973660604,0.401660492102,-0.00543525697294,0.0499514816131,0.999999990583,0.000109004756144,-7.79255707939e-05,-2.9655634088e-05,1793244776893670912
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.601139663,714,679.601139663,660,634.398860337,879,787,805.601139663,652.398860337,630,652.398860337,0.401789907683,-0.00543891717416,0.0499495470052,0.999999990313,0.000108204793188,-8.27262353485e-05,-2.86646988005e-05,1793244776910337536
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.820064611,714,679.820064611,660,634,879,787,806,652.179935389,630,652,0.401929719774,-0.00544312976344,0.0499492648802,0.999999990306,0.000106639000859,-8.51517769768e-05,-2.76597169069e-05,1793244776927004160
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.232211161,714,679.232211161,660,634,879,787,806,652.767788839,630,652,0.402093100996,-0.00544859462985,0.0499527289755,0.999999990929,0.000103337054152,-8.21928544206e-05,-2.66228911388e-05,1793244776943670784
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.350401593,660,634.350401593,879,787,806,653,630.350401593,652.350401593,0.402274231461,-0.00545467111174,0.049951361659,0.999999990997,0.000100113943863,-8.56524096206e-05,-2.54168898054e-05,1793244776960337408
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.929592573,660,634.929592573,879,787,806,653,630.929592573,652.929592573,0.402466951039,-0.00546114693918,0.049946839746,0.999999990658,9.69423082799e-05,-9.33028118785e-05,-2.41004277575e-05,1793244776977004032
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.495019293,660,634.495019293,879,787,805.495019293,652.495019293,631,652.495019293,0.402695692481,-0.00546951951955,0.0499455588092,0.999999990526,9.35727846814e-05,-9.84614946849e-05,-2.22897823e-05,1793244776993671680
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920231763,744.920231763,714,679.079768237,660,634,879,787,805.079768237,652.079768237,630.920231763,652,0.40293663326,-0.00547821261147,0.0499459724168,0.99999999071,8.9961126119e-05,-0.00010036416522,-2.03512356023e-05,1793244777010339328
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.345904956,744.345904956,714,679.654095044,660,634,879,787,805.654095044,652.654095044,630.345904956,652,0.403222303589,-0.00548726549973,0.0499541114353,0.999999992677,8.50180253654e-05,-8.42175711335e-05,-1.80437031816e-05,1793244777027005440
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.235474427,744.235474427,714,679.529051146,660,634,879,787,805.764525573,653,630.235474427,652,0.403521922204,-0.00549713498559,0.0499628029278,0.999999994409,8.06471261707e-05,-6.66487628068e-05,-1.53739463763e-05,1793244777043671808
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.827533669,744.827533669,714,678.344932662,660,634,879,787,805.172466331,653,630.827533669,652,0.403842663039,-0.00550824106509,0.049972331045,0.99999999585,7.71427264136e-05,-4.6926260855e-05,-1.21556642643e-05,1793244777060338432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,678.411828542,660,634,879,787,805,653,631,652,0.40419993436,-0.00551600900418,0.0499807192037,0.999999996431,7.79542311852e-05,-3.12828917223e-05,-9.04034084398e-06,1793244777077005312
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,678.992931992,660,634,879,787,805,653,631,652,0.404572220889,-0.00552240485884,0.0499886388022,0.999999996589,8.05397129993e-05,-1.73161791722e-05,-5.96733686932e-06,1793244777093672192
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.567384301,787,805.567384301,653,630.432615699,652,0.404990781575,-0.00552720357637,0.0499939129986,0.999999996539,8.30972062413e-05,-2.80077689403e-06,-3.08257064465e-06,1793244777110338048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.144728609,679,660,634,879.855271391,786.855271391,806,653,630.144728609,652,0.405404807046,-0.00552958721719,0.0499930572336,0.999999996031,8.90940955496e-05,-6.62290123468e-07,-4.85437380262e-07,1793244777127004672
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.731148717,679,660,634,879.268851283,786.268851283,806,653,630.731148717,652,0.405803252747,-0.00552466039611,0.049973593088,0.999999993765,0.000105588592485,-3.63170416186e-05,1.24095315288e-06,1793244777143671040
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.686485134,679,660,634,879,786.313514866,806,653,630.686485134,652,0.406230014517,-0.00551747950038,0.0499523854043,0.999999989287,0.000125623738045,-7.50815880795e-05,2.86092650444e-06,1793244777160337408
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.107550971,679,660,634,879,786.892449029,806,653,630.107550971,652,0.406680748498,-0.00550839032169,0.0499297016523,0.999999982157,0.000148656371486,-0.000116478867149,4.39080806903e-06,1793244777177004288
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879.471232174,787,806,653,630,652,0.407190284096,-0.00550681953669,0.0499212478465,0.999999978116,0.000162277328815,-0.000131854259323,6.89735174991e-06,1793244777193670912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.049490834,880,787,806,653,630.049490834,652,0.407721849348,-0.00550786182017,0.0499189087482,0.999999975842,0.000172751463543,-0.000135560128837,9.86018301246e-06,1793244777210337536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.622565681,880,787,806,653,630.622565681,652,0.408344540259,-0.00551840091411,0.0499469113768,0.999999981888,0.000172652000677,-7.86210080538e-05,1.52928011963e-05,1793244777227004160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.79858086,879.79858086,787,805.79858086,652.79858086,630.79858086,652,0.408967779965,-0.00552643640083,0.0499725614378,0.99999998398,0.000175170585559,-3.05566086159e-05,2.05161099724e-05,1793244777243670784
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.2085792,879.2085792,787,805.2085792,652.2085792,630.2085792,652,0.409592078384,-0.0055296418693,0.0499936728687,0.999999982982,0.000182739970204,3.86466976187e-07,2.53356138849e-05,1793244777260337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.37637941,714.37637941,679,660,634,879,787,805.37637941,652.37637941,630,652,0.410218480883,-0.00552817022478,0.0499956459383,0.999999980189,0.000196871133402,-2.74143816294e-06,2.9255255637e-05,1793244777277004032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.958580232,714.958580232,679,660,634,879,787,805.958580232,652.958580232,630,652,0.41084603397,-0.00552414092164,0.0499871532793,0.999999976141,0.00021459057581,-2.45009091021e-05,3.26828115885e-05,1793244777293670912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.466804485,714.466804485,679,660,634,879.533195515,787,806,653,630.533195515,652,0.411482667148,-0.00552231182707,0.04995593359,0.999999969454,0.000227534862628,-9.01114359287e-05,3.46271679398e-05,1793244777310337280
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.107466943,660,634,880,787,806,652.892533057,630.892533057,652,0.412148105201,-0.00552156284409,0.0499327093813,0.999999961895,0.000237289307821,-0.00013626356087,3.65482832341e-05,1793244777327003904
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.682770554,660,634,880,787,806,652.317229446,630.317229446,652,0.412935911976,-0.00552478230269,0.0499518698579,0.99999996824,0.000234749574565,-8.30859694419e-05,3.88627673801e-05,1793244777343670784
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.265538814,745.265538814,714,680,660.531077629,634,880,787,806,652,630.265538814,652,0.413714346617,-0.00553144254793,0.0499691447251,0.999999980309,0.000190469696443,-4.58802387508e-05,3.15838099271e-05,1793244777360337408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.857482838,745.857482838,714,680,661.714965675,634,880,787,806,652,630.857482838,652,0.414481260961,-0.00554233227202,0.0499841017689,0.99999999502,9.48820610954e-05,-2.83074066216e-05,1.25124172603e-05,1793244777377004032
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.560631293,745.560631293,714,679.560631293,661.121262587,634,880,787,806,652,631,652,0.415230247292,-0.0055461426689,0.0499605496149,0.999999994129,8.3153560764e-05,-6.87255397771e-05,1.02570777769e-05,1793244777393670912
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.017885123,714,679,659.982114877,634,880,787,806.017885123,652,631,652,0.415976228575,-0.00554754729013,0.0499260500919,0.999999987252,9.81220985305e-05,-0.000125260509474,1.33588801719e-05,1793244777410337280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.590818859,714,679,659.409181141,634,880,787,806.590818859,652,631,652,0.416805385172,-0.00554395978565,0.0499307848009,0.999999986894,0.000116336146995,-0.000111267438726,1.72249134858e-05,1793244777427005184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.831339055,714,679,659.33732189,634,880,787,806.831339055,652.168660945,631,652,0.417649630743,-0.00554067133411,0.0499426295597,0.999999987411,0.000131359213206,-8.65382606879e-05,2.0839549932e-05,1793244777443672320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.241232132,714,679,660.517535736,634,880,787,806.241232132,652.758767868,631,652,0.418531580233,-0.00553813014925,0.0499722407422,0.999999989526,0.000138408727287,-3.49819525697e-05,2.38260015874e-05,1793244777460338176
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.342549905,660.657450095,634,880,787,805.657450095,652.657450095,631,652,0.41938447,-0.00553738363265,0.0499746303186,0.999999988755,0.000142653247834,-3.84175317091e-05,2.57889562669e-05,1793244777477004544
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.921958527,660.078041473,634,880,787,805.078041473,652.078041473,631,652,0.420217266164,-0.00553787805307,0.0499581973088,0.999999985938,0.000144958234127,-7.98776684672e-05,2.70442061112e-05,1793244777493671424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.49833149,714,679.50166851,660,634,880,787,805.49833149,652,631,652,0.42113301672,-0.00554244062187,0.0499687170708,0.999999989752,0.00013455496915,-4.13761285654e-05,2.60681149942e-05,1793244777510338304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.926038892,714,679,660.147922217,634,880,787,806,652,631,651.926038892,0.422059743085,-0.00554732401895,0.0499829052531,0.999999992042,0.000123528767652,4.87336049143e-06,2.51441093937e-05,1793244777527005184
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.352239784,714,679,661.295520432,634,880,787,806,652,631,651.352239784,0.422973380904,-0.0055500961173,0.0499935320586,0.999999992049,0.000121661150079,1.93686381884e-05,2.69193659203e-05,1793244777543671552
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.228370834,714,679,661.543258332,634,880,787,806,652,631,651.228370834,0.423883405237,-0.00555055871208,0.0499929968205,0.99999999196,0.000122512502665,1.70385059856e-05,2.79285429876e-05,1793244777560337920
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.81981063,714,679,660.360378739,634,880,787,806,652,631,651.81981063,0.424787684913,-0.00554734960783,0.0499747159221,0.999999991391,0.000127686533329,-1.20410297458e-05,2.77197903911e-05,1793244777577004544
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.401603585,746,714,679,660,634,880,787,806,652,631,651.598396415,0.425718338749,-0.00554844728326,0.0499812795083,0.999999991627,0.000125950372159,-6.60342813633e-06,2.8978818046e-05,1793244777593671424
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.979169741,746,714,679,660,634,880,787,806,652,631,651.020830259,0.426660548365,-0.00555143197398,0.0499987287041,0.999999992083,0.00012118651079,1.39578555501e-05,3.08809534822e-05,1793244777610338048
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.445621042,746,714,679.554378958,660.554378958,634,880,787,806,652,630.445621042,651.554378958,0.427534342287,-0.00554951825861,0.0499863858759,0.999999991191,0.000124692802257,-3.22919835123e-05,3.20390678317e-05,1793244777627004672
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.86741515,714,679.86741515,660.86741515,634,880,786.86741515,806.13258485,652,630.13258485,652,0.428419007366,-0.00554806464987,0.049970908335,0.999999988726,0.000126661634606,-7.38256795328e-05,3.24736552658e-05,1793244777643671296
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.27859401,714,679.27859401,660.27859401,634,880,786.27859401,806.72140599,652,630.72140599,652,0.42934988942,-0.00554882497039,0.0499484796404,0.999999987961,0.000122275165888,-9.05288884847e-05,3.05143136508e-05,1793244777660337920
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.305296446,714,679.305296446,660.305296446,634,880,786.305296446,806.694703554,652,631,652,0.430288726266,-0.005550069833,0.0499457586039,0.999999989053,0.000118863499095,-8.28239182107e-05,3.01038895057e-05,1793244777677004800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.884758955,714,679.884758955,660.884758955,634,880,786.884758955,806.115241045,652,631,652,0.431234706721,-0.00555174983,0.0499607356815,0.999999991336,0.000116327236075,-5.31996141644e-05,3.10844433383e-05,1793244777693671168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.462107201,745.537892799,714,680,660.537892799,634,880,787,806.462107201,652,631.462107201,652,0.432136092697,-0.00555328128956,0.0499490461946,0.999999989977,0.000116391865559,-7.4188234221e-05,3.15375704425e-05,1793244777710338048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961455621,745,714,679.961455621,660,634,880,787,806.961455621,652,631.961455621,652,0.433027698179,-0.0055547590741,0.0499334273886,0.999999987384,0.000116971894919,-0.000102633082699,3.18846565502e-05,1793244777727004416
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.390355176,745,714,679.390355176,660,634,880,787,806.390355176,652,631.390355176,652,0.433937124889,-0.00555600471991,0.0499549830433,0.99999999094,0.000115752149872,-6.04991737732e-05,3.2575647079e-05,1793244777743671040
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.187834311,660.187834311,634,880.187834311,786.812165689,806,652,631,652,0.43483954107,-0.00555623196313,0.0499719056968,0.999999992315,0.000114882114163,-3.24433703134e-05,3.34568837243e-05,1793244777760337920
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.7813341,660.7813341,634,880.7813341,786.2186659,806,652,631,652,0.435726816794,-0.00555425976403,0.0499788224689,0.999999992205,0.00011476734532,-3.47920221525e-05,3.4748994856e-05,1793244777777004800
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.365841642,745,714,680,660.634158358,634,880.634158358,786.365841642,806.365841642,652,631,652,0.436577066533,-0.0055531611915,0.0499653866796,0.999999990282,0.000116569134598,-6.77090386006e-05,3.55342766425e-05,1793244777793671680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.945103364,745,714,680,660.054896636,634,880.054896636,786.945103364,806.945103364,652,631,652,0.437405716466,-0.00555257226434,0.0499400778694,0.999999985196,0.000119488981133,-0.000118458641659,3.60238905676e-05,1793244777810338816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479538109,745,714,680,660,634,880.520461891,787,807,652,631,651.479538109,0.438292940268,-0.00555597865695,0.0499646225003,0.999999990879,0.000114768393374,-6.10730957004e-05,3.66043059686e-05,1793244777827004928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.097566582,634,881,787,806.902433418,652,631,651,0.439166608878,-0.00555964460963,0.0499878446321,0.999999993391,0.000108694558092,-7.25179995102e-06,3.67569026032e-05,1793244777843671552
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.685501224,634,881,787,806.314498776,652,631,651,0.439941328979,-0.00556251285584,0.0499781880977,0.999999994015,9.98395568713e-05,-2.82427547639e-05,3.4711511975e-05,1793244777860338176
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.730824416,633.730824416,881,786.730824416,806,652,631,651.269175584,0.440714810987,-0.0055640284994,0.0499624878877,0.999999993302,9.53226714524e-05,-5.63684656408e-05,3.3640506264e-05,1793244777877004800
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.152050163,633.152050163,881,786.152050163,806,652,631,651.847949837,0.44148686892,-0.00556398841479,0.0499398364019,0.999999990547,9.57953731877e-05,-9.27003836324e-05,3.36902125573e-05,1793244777893671424
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.425793908,714,680,660.425793908,633,881,786,806.425793908,652,631,652,0.442238689183,-0.00556367057286,0.0499350868337,0.999999990284,9.69511901676e-05,-9.42294708882e-05,3.39472691452e-05,1793244777910337792
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660.996716831,633,880.996716831,786.003283169,806.996716831,652,631,652,0.44298273708,-0.00556325557277,0.049936539182,0.999999991068,9.83563203834e-05,-8.37578873966e-05,3.42779539594e-05,1793244777927004672
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,660.423293528,633,880.423293528,786.576706472,806.423293528,652,631,652,0.443629303872,-0.00556315528021,0.0499072739629,0.999999984129,0.000100787014743,-0.000142793846962,3.45643941024e-05,1793244777943671808
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,659.84523782,633,880.15476218,787,806.15476218,652,631,652,0.444261921641,-0.00556290465504,0.0498711640245,0.999999972336,0.000103494166924,-0.000208416407316,3.43354779616e-05,1793244777960338688
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680,659.254120833,633,880.745879167,787,806.745879167,652,631,652,0.444855210036,-0.00556223016433,0.0498157552681,0.999999950934,0.000106980797973,-0.000292610023541,3.26535055186e-05,1793244777977005568
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.669789191,714,680.330210809,659,632.669789191,881,786.669789191,807,652,631,652,0.445485547642,-0.0055623372481,0.0497898023757,0.99999994236,0.000107898488,-0.000320383015537,3.15173812805e-05,1793244777993672192
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.090574253,714,680.909425747,659,632.090574253,881,786.090574253,807,652,631,652,0.446143823143,-0.00556303369867,0.0497860614544,0.999999947115,0.000106879000791,-0.000305610550658,3.07928684311e-05,1793244778010338816
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.514685542,659,632,881,786,807,652,631,652,0.446734703379,-0.00556454910126,0.0497843392435,0.999999947557,0.000107322838948,-0.000303893847056,3.18703103325e-05,1793244778027005440
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.061826015,659,632,881,786.061826015,807,652,631,652,0.447303359999,-0.00556564303415,0.0497795102377,0.999999945499,0.000108739505044,-0.000309976914835,3.30395540562e-05,1793244778043672576
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.648866278,659,632,881,786.648866278,807,652,631,652,0.447789349261,-0.0055618670147,0.0497451101597,0.999999927306,0.000116116173912,-0.000361761242899,3.21512334174e-05,1793244778060338944
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.232519917,714,680.767480083,658.767480083,631.767480083,881,786.767480083,807,652,631,652,0.448276390854,-0.0055594790914,0.0497190077496,0.999999911649,0.000120676939934,-0.00040142662466,3.15679974481e-05,1793244778077005568
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.811132702,714,680.188867298,658.188867298,631.188867298,881,786.188867298,807,652,631,652,0.448764998738,-0.00555915727177,0.0497052559564,0.999999902692,0.000121046392042,-0.000423053630372,3.14388630871e-05,1793244778093672704
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.610417268,714.389582732,680.389582732,658.389582732,631,881,786,807,652,630.610417268,652,0.449249700401,-0.00556260305217,0.0497103637122,0.999999905092,0.000120345361847,-0.000417382254885,3.35434386658e-05,1793244778110339328
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.032046056,714.967953944,680.967953944,658.967953944,631,881,786,807,652,630.032046056,652,0.449732509188,-0.00556787457949,0.0497246106439,0.999999912836,0.000119125585042,-0.000398482317783,3.67304510762e-05,1793244778127005696
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.545002205,745,714.454997795,680.454997795,658.454997795,631,880.454997795,786,807,652,630,652,0.450167580694,-0.00556923476657,0.0497366409679,0.999999919069,0.000120570551376,-0.000381915726836,3.82881301731e-05,1793244778143672064
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.124061336,630.875938664,880,786,807,652,630,652,0.450582165547,-0.00556985144714,0.0497446014597,0.99999992215,0.000123040025505,-0.000372806389866,3.97077608779e-05,1793244778160338432
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.710911304,630.289088696,880,786,807,652,630,652,0.450930774182,-0.00556855045521,0.0497378651926,0.99999991443,0.000128748167556,-0.000391004438573,4.09689436135e-05,1793244778177004800
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706276884,745.293723116,714,680,658.706276884,630,880.293723116,785.706276884,807,652,630,652,0.451255470793,-0.00556757116063,0.0497242406449,0.999999901443,0.000131667267504,-0.000421944898688,4.17202624548e-05,1793244778193671168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.127385647,745.872614353,714,680,658.127385647,630,880.872614353,785.127385647,807,652,630,652,0.451556951824,-0.00556690419373,0.0497039284454,0.999999882191,0.000131878558633,-0.000465256632542,4.19765675995e-05,1793244778210338048
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.449437915,680.449437915,658,629.550562085,881,785.449437915,807,652,630,652,0.451836713482,-0.00556591319408,0.0496833072564,0.999999864761,0.000132560342478,-0.000501219022402,4.10424549275e-05,1793244778227004928
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.025223757,746,715,681,658,629,881,786,807,652,630,652,0.452109783906,-0.00556496455779,0.0496636771886,0.999999848295,0.000133127623645,-0.000533012464873,3.98141491927e-05,1793244778243671808
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.591267957,746,715,681,658,629,881,786,807,652,630,652,0.452370773887,-0.00556688438143,0.0496671668088,0.999999855842,0.000128393742193,-0.000519877809025,3.94791960676e-05,1793244778260338432
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.833104478,746,715,680.833104478,658,629,881,785.833104478,807,652,630,652,0.452623495678,-0.00556879728189,0.0496720977224,0.999999865869,0.000104921301281,-0.000506127069113,3.29984953138e-05,1793244778277005312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.232577292,746,715,680.232577292,658,629,881,785.232577292,807,652,630,652,0.452854734829,-0.00557069219411,0.0496807734365,0.999999878977,3.27619177674e-05,-0.000490775606178,1.05497759866e-05,1793244778293671424
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.645305482,715,680.354694518,658,629,881,785,807,652,630,652,0.453057825153,-0.00557655627556,0.0496827351106,0.999999881706,6.67326142989e-07,-0.000486391239559,3.26659889152e-06,1793244778310337792
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.066412199,715,680.933587801,658,629,881,785,807,652,630,652,0.453243122916,-0.00558492922833,0.0496804529099,0.999999880435,-6.10272876722e-06,-0.000488939061702,5.56940320226e-06,1793244778327004416
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.490896949,657.490896949,629,880.490896949,785.509103051,807.509103051,652,629.490896949,652,0.453393519407,-0.00558225438238,0.0496709755725,0.999999872865,-1.10380146206e-07,-0.000504219260919,5.75714635422e-06,1793244778343671040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.084273786,657.084273786,628.915726214,880.084273786,785.915726214,807.915726214,652,629.084273786,652,0.45353499664,-0.00557888918907,0.0496606292223,0.999999864424,6.34003014115e-06,-0.000520652128655,5.7373401574e-06,1793244778360337664
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.659988503,657.659988503,628.340011497,880.659988503,785.340011497,807.340011497,652,629.659988503,652,0.453650836311,-0.00557984705729,0.0496506525941,0.999999857288,5.81708577901e-06,-0.000534184923535,6.1055635537e-06,1793244778377004800
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.241971573,745.241971573,715,681,658,628,880.758028427,785,807,652,630,652,0.453757933288,-0.00557922498122,0.0496434338423,0.999999851969,6.86570558303e-06,-0.000544035916987,6.25978372799e-06,1793244778393671680
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.832996963,745.832996963,715,681,658,628,880.167003037,785,807,652,630,652,0.453852418567,-0.00557632377133,0.0496401934399,0.999999849462,1.01813705314e-05,-0.000548575761692,6.10529554545e-06,1793244778410338304
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58467239,746,715,681,657.58467239,628,880,785,807.41532761,652,629.58467239,652,0.453938795867,-0.00557372692187,0.0496426935547,0.999999851623,1.52143346113e-05,-0.000544501468621,6.41452435406e-06,1793244778427005184
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.005766218,746,715,681,657.005766218,628,880,785,807.994233782,652,629.005766218,652,0.454021979803,-0.00557124994616,0.049647454597,0.999999855554,2.09236642422e-05,-0.000537034460286,6.90639009231e-06,1793244778443671808
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714.434106465,681,657.565893535,628,880.565893535,785,807.434106465,652.565893535,629,652,0.454080263745,-0.0055712863987,0.0496474743446,0.999999855434,2.20758587977e-05,-0.000537199701049,7.81588570007e-06,1793244778460338176
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.857798982,714.142201018,681.142201018,657.857798982,628,881.142201018,785.142201018,807,652.857798982,629,651.857798982,0.454132785168,-0.00557145665645,0.0496465458333,0.999999854419,2.29823529113e-05,-0.000539035792523,8.63176619585e-06,1793244778477004544
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.266585791,714.733414209,681.733414209,657.266585791,628,881.733414209,785.733414209,807,652.266585791,629,651.266585791,0.454167901937,-0.00557196957002,0.0496427737317,0.999999850681,2.32577958427e-05,-0.000545905282447,9.13878145742e-06,1793244778493671424
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681.682105921,657.317894079,628,881.364211843,785.682105921,807,652,629,651.317894079,0.454197569892,-0.00557224520481,0.04963889924,0.999999847652,2.309925256e-05,-0.000551431877972,9.23159685107e-06,1793244778510338048
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681.103155428,657.896844572,628,880.206310857,785.103155428,807,652,629,651.896844572,0.454222763256,-0.00557232598499,0.0496349406644,0.999999845217,2.25843173758e-05,-0.000555855681784,8.98426902764e-06,1793244778527005184
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.473292744,715,681,657.526707256,628,880.473292744,785,807,652,629,652,0.454239444397,-0.00556880656048,0.0496326581674,0.999999843037,2.6751027757e-05,-0.000559587465947,8.44079602012e-06,1793244778543671808
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.950808855,881,785,807,652,629,652,0.454253978899,-0.00556497036872,0.0496310053205,0.99999984109,3.13881441318e-05,-0.000562825044032,7.94262328995e-06,1793244778560338688
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.374987705,881,785,807,652,629,652,0.454265289539,-0.0055660993076,0.0496322030552,0.999999841372,3.019483956e-05,-0.000562377994557,8.61680313677e-06,1793244778577005056
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.79428038,715,681,657,627.20571962,880.79428038,785,807.20571962,652,629,652,0.454274478103,-0.00556685604795,0.0496327779306,0.99999984164,2.9536042585e-05,-0.000561929703488,9.09859968489e-06,1793244778593671424
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.204449833,715,681,657,627.795550167,880.204449833,785,807.795550167,652,629,652,0.454279704414,-0.00556691783497,0.0496321898294,0.999999841882,2.98752555382e-05,-0.000561479094199,9.22118627775e-06,1793244778610338048
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.378385334,745.378385334,715,681,657,628,880.378385334,785,807.621614666,652,629.378385334,652,0.454282119953,-0.00556553383712,0.0496310057694,0.999999840906,3.15377952564e-05,-0.000563128078037,8.95522645548e-06,1793244778627004416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.957509337,745.957509337,715,681,657,628,880.957509337,785,807.042490663,652,629.957509337,652,0.454283044339,-0.00556338283035,0.0496295055451,0.999999839273,3.39023781664e-05,-0.000565890925157,8.48313736698e-06,1793244778643671040
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.467314265,745.467314265,715,681,657,628,881,785,807,652,629.467314265,652,0.454284292474,-0.00556430998591,0.0496286959273,0.999999838965,3.2601422602e-05,-0.000566508913775,8.64722747429e-06,1793244778660338176
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.109897999,715,681,657,628,881,785,807.109897999,652,629,652,0.454285594,-0.00556528438276,0.0496280630482,0.999999838773,3.12147053656e-05,-0.000566923452479,8.75438291938e-06,1793244778677005056
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.697314301,715,681,657,628,881,785,807.697314301,652,629,652,0.454287016126,-0.00556540501922,0.0496279605168,0.99999983864,3.07164577829e-05,-0.000567191909188,8.39527654057e-06,1793244778693671936
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,628,881,785.280928658,808,652,629,652,0.454287712614,-0.00556476669163,0.0496273172321,0.999999838203,3.11331997403e-05,-0.000567943081812,8.12054765497e-06,1793244778710338560
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657,628,881,785.86050139,808,652,629,652,0.454287637704,-0.00556332153957,0.0496260990939,0.999999837441,3.25226305978e-05,-0.000569207410543,7.93551707957e-06,1793244778727004928
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.561018766,681,657,628,881,785.561018766,807.561018766,652,629,652,0.454286662433,-0.00556283429182,0.0496254844995,0.999999836576,3.27977230511e-05,-0.000570708594485,8.01197677345e-06,1793244778743671296
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.016760495,681,657,628,880.983239505,785,807,652,629,651.983239505,0.454285479217,-0.00556269770022,0.0496250829185,0.99999983573,3.2728896824e-05,-0.000572190680622,8.18775345618e-06,1793244778760337920
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.58293187,681,657,628,880.41706813,785,807,652,629,651.41706813,0.454286835114,-0.00556410213823,0.0496253925579,0.999999836633,3.29653915874e-05,-0.000570585595792,8.90202496638e-06,1793244778777004544
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,715,681,657.157491775,628,880.157491775,785,807,652,629,651.157491775,0.454287670751,-0.00556513605391,0.0496255901336,0.999999837066,3.30758131095e-05,-0.000569811268328,9.43612542267e-06,1793244778793671424
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657.755515848,628,880.755515848,785,807,652,629,651.755515848,0.454287051128,-0.00556513355317,0.0496254742475,0.99999983619,3.28335855047e-05,-0.000571360715984,9.46625559077e-06,1793244778810338304
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,657.658217119,627.658217119,881,785,807,652.341782881,629.341782881,652,0.45428822495,-0.00556444166455,0.0496261198509,0.999999836596,3.30726285471e-05,-0.000570641211948,9.09944916117e-06,1793244778827005184
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,715,681,657.080080479,627.080080479,881,785,807,652.919919521,629.919919521,652,0.454290638996,-0.00556327304224,0.0496272920485,0.999999837886,3.36444855949e-05,-0.000568352655415,8.45814841849e-06,1793244778843671808
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,715,681,657,627.497483355,881,785,807,652.502516645,629.502516645,652,0.454289203491,-0.0055638573958,0.0496261285842,0.999999836779,3.21942303729e-05,-0.000570377831783,8.62175696208e-06,1793244778860338432
+245,4.083333333,HOLD_POSE2,765,746,715,681,657,628,881,785,807,652,629,652,0.454290165612,-0.00555954558344,0.0496260667387,0.999999837007,3.93168631869e-05,-0.000569538255249,8.1883052877e-06,1793244778903990272
+246,4.100000000,HOLD_POSE2,765,745.405449618,715,681,657.594550382,627.405449618,881,785,807,652,629,652,0.454290020664,-0.00556101976703,0.049625699512,0.999999836239,3.7134224144e-05,-0.000571030884276,8.11812776031e-06,1793244778920657920
+247,4.116666667,HOLD_POSE2,765,745.183066975,714.816933025,681,657.816933025,627.183066975,880.816933025,785,807,652,629,652,0.454290133984,-0.00556209336162,0.0496254752667,0.999999835817,3.58900991651e-05,-0.000571850005882,8.13277392556e-06,1793244778937324800
+248,4.133333333,HOLD_POSE2,765,745.758646672,714.241353328,681,657.241353328,627.758646672,880.241353328,785,807,652,629,652,0.454290801058,-0.00556230805621,0.049625557587,0.999999836144,3.66582357292e-05,-0.000571225064859,8.32929001024e-06,1793244778953991424
+249,4.150000000,HOLD_POSE2,765,745.664621397,714.335378603,681,657,627.664621397,880.335378603,785,807,652,629,652,0.454291012946,-0.00556277204818,0.049625194614,0.9999998363,3.63871766217e-05,-0.000570964336439,8.72079461861e-06,1793244778970657792
+250,4.166666667,HOLD_POSE2,765,745.087057443,714.912942557,681,657,627.087057443,880.912942557,785,807,652,629,652,0.454290896134,-0.00556341606406,0.0496245100835,0.99999983633,3.53656880526e-05,-0.000570966615166,9.25310534811e-06,1793244778987324416
+251,4.183333333,HOLD_POSE2,765,745,714.500832395,681,657,627.499167605,881,785,807,652,629,652,0.454291803694,-0.00556137927357,0.0496250930912,0.999999836477,3.63464075605e-05,-0.000570656790196,8.74971101776e-06,1793244779003990784
+252,4.200000000,HOLD_POSE2,765,745.085791858,714.085791858,681,657,628,881,785,807,652,629,652,0.454292768448,-0.00555940982309,0.0496259444373,0.999999836698,3.76116895839e-05,-0.000570194682349,8.21130663487e-06,1793244779020657408
+253,4.216666667,HOLD_POSE2,765,745.665859665,714.665859665,681,657,628,881,785,807,652,629,652,0.454293015247,-0.00556056959959,0.0496270456501,0.999999837244,3.84690748548e-05,-0.000569174362894,8.53025764327e-06,1793244779037323520
+254,4.233333333,HOLD_POSE2,765,746,715,681,657,628,880.756297324,785,807,652.243702676,629,652,0.454291747048,-0.0055613618403,0.0496262284632,0.999999836516,3.73900807801e-05,-0.00057052431238,8.47987875075e-06,1793244779053989888
+255,4.250000000,HOLD_POSE2,765,746,715,681,657,628,880.181477178,785,807,652.818522822,629,652,0.454288420428,-0.00556165471206,0.0496228047569,0.999999834034,3.36801387842e-05,-0.000575094733169,7.92769334914e-06,1793244779070656512
+256,4.266666667,HOLD_POSE2,765,746,715,681,657,627.605024941,880.394975059,785,807,652.605024941,629,652,0.454288747751,-0.00556160292306,0.0496229327761,0.999999834151,3.46211424968e-05,-0.000574836411264,7.93591100573e-06,1793244779087323136
+257,4.283333333,HOLD_POSE2,765,746,715,681,657,627.027819655,880.972180345,785,807,652.027819655,629,652,0.454290760899,-0.00556139211745,0.0496246994598,0.999999835463,3.77079595925e-05,-0.000572350245595,8.20268260264e-06,1793244779103989760
+258,4.300000000,HOLD_POSE2,765,746,715,681,657.559934298,627,881,785,807,652,629,652,0.454291978508,-0.00556267779907,0.0496251946132,0.999999836125,3.54725623898e-05,-0.00057132096771,9.17946831965e-06,1793244779120656896
+259,4.316666667,HOLD_POSE2,764.85408281,746,714.85408281,681,657.85408281,627,881.14591719,784.85408281,807,652,629,652,0.454292643551,-0.00556344423615,0.0496255049238,0.999999836499,3.35200460362e-05,-0.000570775957781,9.68580545204e-06,1793244779137323776
+260,4.333333333,HOLD_POSE2,764.274943875,746,714.274943875,681,657.274943875,627,881.725056125,784.274943875,807,652,629,652,0.454291787656,-0.00556244407553,0.0496254576082,0.999999836133,3.32075384151e-05,-0.000571449687606,8.68865716733e-06,1793244779153990400
+261,4.350000000,HOLD_POSE2,764.301743104,746,714.301743104,681,657,627,881.396513792,784.301743104,807,652,629,651.698256896,0.454291636024,-0.00556114949301,0.0496250036481,0.999999835779,3.50426550811e-05,-0.000571967662903,8.15218989385e-06,1793244779170657024
+262,4.366666667,HOLD_POSE2,764.876213873,746,714.876213873,681,657,627,880.247572255,784.876213873,807,652,629,651.123786127,0.454292120933,-0.00555958880008,0.0496241821461,0.999999835425,3.88188817623e-05,-0.000572344860891,8.03210487585e-06,1793244779187323392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,627,880,784,807,652,629,652,0.454290697606,-0.00556145816789,0.0496237956189,0.999999835105,3.53382560621e-05,-0.000573119984551,8.60346379175e-06,1793244779219945728
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.596735508,715,681,657,627,880.596735508,784.596735508,807,652,629,652,0.45429284784,-0.00555994353359,0.0496248806505,0.999999835702,3.78228010345e-05,-0.000571917341006,8.70093164649e-06,1793244779236612352
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714.813058201,681,657,627,881,785,807,652,629,652,0.45429419956,-0.00555899058728,0.0496258100781,0.99999983626,3.95161138759e-05,-0.00057082579301,8.68253469939e-06,1793244779253279232
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714.236461088,681,657,627,881,785,807,652,629,652,0.454293886883,-0.0055592084046,0.0496264151703,0.999999836751,3.95602090364e-05,-0.000569965808691,8.42263300134e-06,1793244779269945856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714.337272123,680.662727877,657,627,881,785,807,652.337272123,629.337272123,652,0.454293772488,-0.00555927425244,0.0496264412744,0.999999836767,3.96878394334e-05,-0.000569930042971,8.45259871683e-06,1793244779286612224
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,714.909014326,680.090985674,657,627,881,785,807,652.909014326,629.909014326,652,0.454293795937,-0.00555923445176,0.0496260648685,0.999999836451,3.98735431529e-05,-0.00057046727041,8.68407898522e-06,1793244779303278592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.496195429,657,627,880.503804571,785,807,652.503804571,629.503804571,652,0.454292085347,-0.00555883472613,0.0496250294569,0.999999835732,4.05674019323e-05,-0.000571676085231,8.7868047514e-06,1793244779319944960
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.918544622,715,681,657,627,880.081455378,785,807,652,629,652,0.454289853906,-0.00555849243785,0.0496238247003,0.999999834854,4.09985354308e-05,-0.000573178608211,8.77571174198e-06,1793244779336611584
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.36155806,715,681,657,627,880.63844194,785,807,652,629,652,0.45428649763,-0.00555888313154,0.0496223594279,0.999999833504,3.93344559178e-05,-0.000575653770557,8.24240778285e-06,1793244779353278208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,627.211220794,881,784.788779206,807,652,629,652,0.454277609585,-0.00555838566231,0.0496181512182,0.999999829508,3.91469792114e-05,-0.000582573907002,7.64428054056e-06,1793244779369944832
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,627.813216562,881,784.186783438,807,652,629,652,0.454258487333,-0.00555624502222,0.0496088683603,0.999999820474,4.16913332587e-05,-0.000597717592504,6.92622521711e-06,1793244779386611456
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,784.404912246,807,652,629,652,0.45422572467,-0.00555475171687,0.0495945341172,0.999999805793,4.30083173854e-05,-0.000621712448181,6.12923139708e-06,1793244779403278336
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,628,881,784.991974484,807,652,629,652,0.454186825859,-0.00555354961521,0.049577927505,0.99999978798,4.37731686853e-05,-0.000649689008496,5.29672698562e-06,1793244779419945472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.571385853,715,681,657,627.428614147,881,785,807,652.571385853,629,652,0.454118248415,-0.00555265057841,0.0495529805452,0.99999976255,4.27120554715e-05,-0.000687794611131,3.76285007848e-06,1793244779436612096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627,881,785,807,653,628.853232899,652,0.454048110139,-0.00555105209992,0.0495310570047,0.999999740069,4.2586754952e-05,-0.000719751997521,2.18492933127e-06,1793244779453278720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,657,627,881,785,807,653,628.289012869,652,0.453974702343,-0.00554745223603,0.0495180618361,0.999999729731,4.51951915365e-05,-0.000733822573275,5.09383320328e-07,1793244779469945088
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.713805824,715,681.286194176,657,627.286194176,881,785,807,652.713805824,628.286194176,652,0.453893974203,-0.0055437468349,0.0495107756096,0.999999723296,4.76871560682e-05,-0.000742384136125,-4.68283585378e-07,1793244779486611456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.127060637,715,681.872939363,657,627.872939363,881,785,807,652.127060637,628.872939363,652,0.4538055585,-0.00553993060251,0.0495094847131,0.999999721115,5.00568056169e-05,-0.000745160327575,-7.13062416545e-07,1793244779503278080
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.462865245,715,681.07426951,657,627.537134755,881,784.537134755,807,652,629,652,0.453704623995,-0.00553804747851,0.0495117152202,0.99999972322,5.08999298304e-05,-0.000742272776446,-6.91151776847e-07,1793244779519944704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.05264808,657,627.05264808,880.94735192,784,807,652,629,651.94735192,0.453596933412,-0.00553622601724,0.0495144678398,0.99999972592,5.16974071202e-05,-0.000738570670234,-6.87420059171e-07,1793244779536611328
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.632200563,657,627.632200563,880.367799437,784,807,652,629,651.367799437,0.453456258544,-0.00552967410745,0.0495127045015,0.999999722849,5.62608860666e-05,-0.000742384111121,-1.60336883848e-06,1793244779553278464
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.789615793,681,657,627.789615793,880.210384207,784.210384207,807,652,629,651.210384207,0.4533055056,-0.00552342248205,0.0495133047689,0.999999721365,6.10902274686e-05,-0.000743997483859,-2.25862928319e-06,1793244779569945344
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.638858568,746,714.361141432,680.638858568,657,627.361141432,881,785,807,652,629,652,0.452950738312,-0.00551082992037,0.0495221534572,0.999999724346,7.1452327138e-05,-0.000739049050466,-2.8810989251e-06,1793244779603278592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.064412178,746,714.935587822,680.064412178,657,627.935587822,881,785,807,652,629,652,0.45275344861,-0.00550329853621,0.0495259641378,0.999999726232,7.63932739168e-05,-0.000735994103293,-3.42959361592e-06,1793244779619944960
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.525028074,746,715,680.525028074,657,628,881,785,807,652,629,652,0.452528287609,-0.00549509905666,0.0495318079469,0.999999727309,8.25501120951e-05,-0.000733860682903,-4.09179324871e-06,1793244779636611328
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.886923075,715,681,657,628,881,785,807.113076925,652,629,652,0.452292263025,-0.00548641709217,0.0495379701608,0.999999728926,8.89145862687e-05,-0.000730901583797,-4.93220484728e-06,1793244779653278208
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.312282825,715,681,657,628,881,785,807.687717175,652,629,652,0.45202626239,-0.0054761100938,0.0495443839874,0.999999733261,9.54998137354e-05,-0.000724097141309,-6.44143707221e-06,1793244779669944832
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.736894969,745.263105031,715,681,657,628,881,785,807.736894969,652.263105031,629.263105031,652,0.451731817591,-0.00546580366577,0.0495457284332,0.999999733244,0.000103012523775,-0.000723076093718,-7.88168848462e-06,1793244779686611456
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.160617278,745.839382722,715,681,657,628,881,785,807.160617278,652.839382722,629.839382722,652,0.451403515855,-0.00545549791722,0.0495410388192,0.999999728051,0.000111629211495,-0.000728938993852,-9.23983227492e-06,1793244779703278592
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.426056306,746,714.573943694,681,657,628.426056306,881,785,807,653,629.573943694,652,0.451068199938,-0.00544917582902,0.0495397164705,0.999999730908,0.000112926005896,-0.000724781441366,-1.11357316215e-05,1793244779719945216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.983574933,714.016425067,681,657,629,881.016425067,785,806.983574933,652.983574933,629,652,0.450729504857,-0.00544444209506,0.0495402636543,0.999999737448,0.000111398589653,-0.000715904689449,-1.32134093264e-05,1793244779736612096
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.404239395,714.595760605,681,657,629,881.595760605,785,806.404239395,652.404239395,629,652,0.450367889437,-0.00544138798232,0.0495602897492,0.999999764006,0.000110018657734,-0.000677994905735,-1.43994052661e-05,1793244779753278720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.174167765,629,881.65166447,785.174167765,806.174167765,651.825832235,629.174167765,652,0.449989906131,-0.00544014249493,0.0495793355664,0.999999787738,0.000106444658178,-0.000642609135759,-1.57080633691e-05,1793244779769945344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,657.750431524,629,880.499136953,785.750431524,806.750431524,651.249568476,629.750431524,652,0.449574134819,-0.00544307252811,0.0495961182426,0.999999807152,9.78052796755e-05,-0.000613050488772,-1.72999078661e-05,1793244779786611968
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.674473878,745,714.674473878,681,658,629,880.325526122,785.674473878,806.674473878,651.325526122,630,652,0.449116597401,-0.00544479600151,0.0496061574333,0.999999815535,9.00613794507e-05,-0.000600388781959,-1.87743747152e-05,1793244779803278848
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.100272361,745,714.100272361,681,658,629,880.899727639,785.100272361,806.100272361,651.899727639,630,652,0.448627154044,-0.005445597762,0.0496110451531,0.999999815971,8.30015506911e-05,-0.000600634955824,-2.01591747961e-05,1793244779819945728
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.807708577,658,630.807708577,880.192291423,786,807,652,630,651.807708577,0.445847769413,-0.00541848712523,0.0495934695178,0.999999809302,7.01077899638e-05,-0.000612453956365,-3.71707648668e-05,1793244779903279104
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.227560716,714,680,659.772439284,633,880.227560716,786.772439284,807,652,631,652,0.437077460658,-0.00540008343557,0.0497737790504,0.999999933337,-2.58386992226e-05,-0.000358425539459,-6.47201769788e-05,1793244780103278336
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.477738268,633,880.477738268,787,806,652,631,651.522261732,0.434431984508,-0.00539371528874,0.0497845575299,0.999999937872,9.42156707394e-06,-0.000347822968133,-5.64548421865e-05,1793244780153278464
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.101179708,633,880.101179708,787,806,652,630.898820292,651.898820292,0.433536288478,-0.00539298968201,0.0497717399213,0.999999929139,6.32437714854e-05,-0.00036876419364,-4.16649379702e-05,1793244780169945088
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880.74481159,787,806,652,630.25518841,651.25518841,0.4317738019,-0.00537718088231,0.0498059271577,0.999999939879,0.00015039397673,-0.00031152201071,-2.40534020486e-05,1793244780203278592
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880.167397753,787,806,652,630.832602247,651.832602247,0.430864574788,-0.00537226436662,0.0498054431538,0.999999942441,0.000140871465502,-0.000307257242295,-2.94427234786e-05,1793244780219945216
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.584726025,745,714,680,659,633.415273975,879.415273975,786.415273975,806.584726025,652,631,651.584726025,0.428028102906,-0.00537802537405,0.0497746415608,0.999999927151,8.93095683497e-05,-0.000368637365843,-4.27686726385e-05,1793244780269945088
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,633,879.733843573,786.733843573,806.266156427,652,631,652,0.426165854438,-0.005373492544,0.0497698021971,0.999999922779,9.76053632774e-05,-0.00037817055725,-4.36222377568e-05,1793244780303278336
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.692285207,745,714,680,659.307714793,633,880,787,806,652,630.692285207,652,0.425274284621,-0.00537125346032,0.0497774590609,0.999999932219,9.97441728314e-05,-0.000351611117289,-4.45225917284e-05,1793244780319945216
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.947626561,633,880,787,806,652.473813281,630,652,0.423520256882,-0.00536865413286,0.0498252659542,0.999999962932,9.39030811275e-05,-0.000251319039191,-4.6436991408e-05,1793244780353278464
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.794125711,745.794125711,714,679.205874289,659.794125711,633.794125711,879.794125711,787,806,652,631,652,0.419882877157,-0.00536712875806,0.0498048485448,0.999999942911,9.79846134632e-05,-0.000319849674066,-4.7673936121e-05,1793244780419944704
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.239029606,714,680,660,634,879.760970394,787,805.239029606,652,630,652,0.410537003843,-0.0053668683534,0.0498115740733,0.999999941389,0.000112841295806,-0.000319493665455,-4.91250457375e-05,1793244780619944704
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fc3df9924935b15e9f41830f41e289766ff7500
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52e9b086c6c6947cda0b50efa604ff998a5fa6db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/fem_node.csv
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ad35d0ecaeae4887f6022056bc2ee2b70771a9c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+60,1.000000000,BASELINE,764.178371636,745,715,679.178371636,658,634.178371636,880,786.821628364,805,652.821628364,630.821628364,652,0.401021320733,-0.00549708884604,0.0698533827821,0.99999998716,3.52674490789e-05,-0.000155569454382,1.53104251569e-05,1793244784182709760
+61,1.016666667,BASELINE,764.399624005,745,714.600375995,678.600375995,658,634,879.600375995,787,805,652.600375995,630.600375995,652,0.401021979394,-0.00549675259944,0.06985374332,0.999999987302,3.53545300669e-05,-0.000154632339334,1.53394947086e-05,1793244784199376640
+62,1.033333333,BASELINE,764.977093505,745,714.022906495,678.022906495,658,634,879.022906495,787,805,652.022906495,630.022906495,652,0.401022579179,-0.00549629214571,0.0698540309571,0.999999987363,3.59838735997e-05,-0.000154072044716,1.54942576043e-05,1793244784216043264
+63,1.050000000,BASELINE,765,745,714,679.106043083,658,634,879,786.446978459,805,652.553021541,630,652,0.40102095637,-0.00549579444893,0.0698537712483,0.999999987089,3.7839166304e-05,-0.00015540300678,1.54738645027e-05,1793244784232709888
+64,1.066666667,BASELINE,765,745,714,679.868312266,658,634,879.131687734,786.131687734,805,652.868312266,630.131687734,652,0.401020024556,-0.00549551260066,0.0698535941181,0.999999986906,3.8702990697e-05,-0.000156373537585,1.54217843388e-05,1793244784249377024
+65,1.083333333,BASELINE,765,745,714,679.279929318,658,634,879.720070682,786.720070682,805,652.279929318,630.720070682,652,0.401021807504,-0.00549598465361,0.0698537817779,0.999999987096,3.59527718043e-05,-0.00015582316789,1.52849036913e-05,1793244784266044416
+66,1.100000000,BASELINE,764.696192876,745,714,679.303807124,658.303807124,634,879.696192876,786.696192876,805,652.303807124,630.696192876,652,0.401022583169,-0.00549666162585,0.0698539166396,0.999999987269,3.41096646339e-05,-0.00015514379528,1.51598527283e-05,1793244784282711040
+67,1.116666667,BASELINE,764.116673286,745,714,679.883326714,658.883326714,634,879.116673286,786.116673286,805,652.883326714,630.116673286,652,0.401022444699,-0.00549752456737,0.0698540035857,0.999999987428,3.30897839004e-05,-0.000154347349369,1.50455375035e-05,1793244784299377152
+68,1.133333333,BASELINE,764.459455849,745,714,680,659,634,879,786,805.459455849,652.540544151,630,652,0.401022688133,-0.00549827277311,0.0698546424718,0.999999987489,3.32792760396e-05,-0.000153872543808,1.54333714931e-05,1793244784316043520
+69,1.150000000,BASELINE,765,745,714,680,658.965279199,634,879,786.034720801,805.965279199,652.034720801,630,652,0.401023036549,-0.00549886103859,0.0698553674731,0.999999987524,3.37901567418e-05,-0.000153487845785,1.58938837056e-05,1793244784332709888
+70,1.166666667,BASELINE,765,745,714,680,658.39016317,634,879,786.60983683,805.39016317,652.60983683,630,652,0.401023520594,-0.0054974101381,0.0698552673229,0.999999987541,3.45583488622e-05,-0.000153243677941,1.55154564415e-05,1793244784349376512
+71,1.183333333,BASELINE,765,745,714,679.809833696,658,634,879,786.809833696,805,652.809833696,630,652,0.401023564198,-0.00549626355908,0.0698549736088,0.999999987501,3.52084881615e-05,-0.000153390230533,1.51790952677e-05,1793244784366043136
+72,1.200000000,BASELINE,765,745,714,679.218506206,658,634,879,786.218506206,805,652.218506206,630,652,0.401022678681,-0.00549575895451,0.0698542715661,0.999999987341,3.56095918477e-05,-0.000154361018866,1.49314736281e-05,1793244784382709760
+73,1.216666667,BASELINE,765,745,714,679,658,634,879,786,805,652,630,652,0.401021948824,-0.00549614567499,0.0698538143853,0.99999998724,3.60742518243e-05,-0.000154890455403,1.50565913247e-05,1793244784399376896
+74,1.233333333,BASELINE,765,745,714,679,658,634,879,786,805,652,630,652,0.401021310199,-0.00549705479064,0.0698535007151,0.999999987175,3.65761613716e-05,-0.000155161220783,1.54001671785e-05,1793244784416044288
+75,1.250000000,BASELINE,764.482807519,745,714,679.517192481,658,634,879,786.517192481,805,652,630.517192481,652,0.40102092756,-0.00549672344764,0.0698533416892,0.999999987119,3.54873336315e-05,-0.000155776020685,1.5353191438e-05,1793244784432710656
+76,1.266666667,BASELINE,764,745,714.094463466,680.094463466,658.094463466,634,879,786.905536534,805,652.094463466,630.905536534,652,0.401020864699,-0.00549611694395,0.0698533735269,0.9999999871,3.50160127085e-05,-0.000156020434399,1.52444996712e-05,1793244784449377280
+77,1.283333333,BASELINE,764,745,714.682667499,680.682667499,658.682667499,634,879,786.317332501,805,652.682667499,630.317332501,652,0.401022323235,-0.00549479916562,0.0698543123444,0.99999998726,3.87044715543e-05,-0.000154127307044,1.5042101903e-05,1793244784466043904
+78,1.300000000,BASELINE,764.266775387,745,714.733224613,680.466449226,658.733224613,634,879,786.266775387,805.266775387,652.733224613,630.266775387,652,0.401023007558,-0.0054940232833,0.0698549302711,0.999999987316,4.00297146548e-05,-0.000153439102469,1.49179938818e-05,1793244784482710272
+79,1.316666667,BASELINE,764.8460845,745,714.1539155,679.307831,658.1539155,634,879,786.8460845,805.8460845,652.1539155,630.8460845,652,0.401022784872,-0.00549388224516,0.0698551722666,0.999999987262,3.85863939019e-05,-0.000154162493793,1.48856041802e-05,1793244784499376896
+80,1.333333333,BASELINE,764.577220243,745,714,679,658,634,879.422779757,786.577220243,805.577220243,652,630.577220243,652,0.401022351248,-0.00549559628445,0.0698548162099,0.999999987327,3.55757495495e-05,-0.000154452220133,1.50170572569e-05,1793244784516043520
+81,1.350000000,BASELINE,764.001470683,745,714,679,658,634,879.998529317,786.001470683,805.001470683,652,630.001470683,652,0.401021841301,-0.00549798152623,0.0698542437667,0.999999987424,3.19980174177e-05,-0.000154585038243,1.52077917823e-05,1793244784532710400
+82,1.366666667,BASELINE,764.575524571,745,714,679.575524571,658,634,879.424475429,786,805,652,630,652,0.401021241315,-0.00549666384268,0.0698527902412,0.999999987048,3.51652859304e-05,-0.000156318544271,1.52601594156e-05,1793244784549377024
+83,1.383333333,BASELINE,765,745,714,679.844207129,658,634,879,786.155792871,805,652,630,652,0.401021060992,-0.00549599246913,0.0698520856023,0.999999986865,3.68770913054e-05,-0.000157091371104,1.52692466949e-05,1793244784566043904
+84,1.400000000,BASELINE,765,745,714,679.254838606,658,634,879,786.745161394,805,652,630,652,0.401022049245,-0.00549714618415,0.0698534714138,0.99999998725,3.44902328782e-05,-0.000155179194621,1.51588697804e-05,1793244784582710528
+85,1.416666667,BASELINE,765,745,714.328687812,679.328687812,658,634,879,787,805,652,630,652,0.401022148349,-0.00549750567345,0.0698539124081,0.99999998736,3.36727870973e-05,-0.000154648926282,1.51545984042e-05,1793244784599376896
+86,1.433333333,BASELINE,765,745,714.90776379,679.90776379,658,634,879,787,805,652,630,652,0.401021570116,-0.00549726013653,0.0698536336584,0.999999987265,3.40508903675e-05,-0.000155171369575,1.52311562296e-05,1793244784616043520
+87,1.450000000,BASELINE,765,745,715,680,658.483786691,634.483786691,879,787,805,652,630,652,0.401021810902,-0.00549739485412,0.0698539738946,0.999999987314,3.51243586043e-05,-0.000154621791118,1.52064443531e-05,1793244784632710144
+88,1.466666667,BASELINE,765,745.060425084,714.939574916,680,659,634.939574916,879,787,805,652.060425084,630,652,0.40102217995,-0.00549747017703,0.0698543627119,0.999999987372,3.62474718102e-05,-0.000153986371169,1.51696718971e-05,1793244784649376768
+89,1.483333333,BASELINE,765,745.647468821,714.352531179,680,659,634.352531179,879,787,805,652.647468821,630,652,0.401022314493,-0.00549639999289,0.069854152869,0.999999987297,3.66550798883e-05,-0.000154372923355,1.51950031765e-05,1793244784666043392
+90,1.500000000,BASELINE,765,745.768750059,714,679.768750059,658.768750059,634,879,787,805,652.768750059,630.231249941,652,0.401022380694,-0.0054959431725,0.0698540277612,0.999999987245,3.6714556083e-05,-0.00015469101598,1.52248585599e-05,1793244784682710528
+91,1.516666667,BASELINE,765,745.189873525,714,679.189873525,658.189873525,634,879,787,805,652.189873525,630.810126475,652,0.401022344161,-0.00549640839161,0.0698540300315,0.999999987229,3.62507028058e-05,-0.000154906196695,1.52615148027e-05,1793244784699377408
+92,1.533333333,BASELINE,765,745,714,679.389057931,658,634,879,787,805,652,631,652,0.401021814813,-0.00549669344331,0.069853956541,0.999999987231,3.57339739314e-05,-0.000155015368461,1.51780655367e-05,1793244784716044032
+93,1.550000000,BASELINE,765,745,714,679.968016247,658,634,879,787,805,652,631,652,0.401021044922,-0.00549689055479,0.0698538460713,0.999999987244,3.51914362723e-05,-0.000155072796952,1.5035992402e-05,1793244784732710656
+94,1.566666667,BASELINE,764.458607598,745,714,679.458607598,658,634,879,787,805,652.541392402,631,652,0.401022292833,-0.0054975467529,0.0698544724008,0.999999987364,3.56170137049e-05,-0.000154176007578,1.52751812975e-05,1793244784749377024
+95,1.583333333,BASELINE,764.11785733,745,714.11785733,679.11785733,658.11785733,634,879,786.88214267,805,652.88214267,630.88214267,652,0.401023080295,-0.00549799264721,0.069854771491,0.999999987417,3.59633504524e-05,-0.000153732937176,1.54215906257e-05,1793244784766043648
+96,1.600000000,BASELINE,764.70800821,745,714.70800821,679.70800821,658.70800821,634,879,786.29199179,805,652.29199179,630.29199179,652,0.401021549765,-0.00549748820911,0.0698535865746,0.999999987182,3.57652904587e-05,-0.000155331666049,1.51068623912e-05,1793244784782710272
+97,1.616666667,BASELINE,765,745,714.707638629,680,659.292361371,634.292361371,879.292361371,786.292361371,805,652,630.292361371,652,0.401020355168,-0.0054967784412,0.0698528765359,0.999999986955,3.6402925922e-05,-0.000156652132517,1.49892431307e-05,1793244784799376640
+98,1.633333333,BASELINE,765,745,714.1289633,680,659.8710367,634.8710367,879.8710367,786.8710367,805,652,630.8710367,652,0.401019489555,-0.0054958675907,0.0698526315523,0.999999986735,3.78589707309e-05,-0.000157700092264,1.50646557199e-05,1793244784816043264
+99,1.650000000,BASELINE,765,745,714,680,659.107283009,634.553641504,879.553641504,786.553641504,805,652,630.553641504,652,0.401020646869,-0.00549599732649,0.0698536640923,0.999999987042,3.6863978221e-05,-0.000155971041568,1.51463920663e-05,1793244784832709888
+100,1.666666667,BASELINE,765,745,714,680,658,634,879.042471848,786,805,652,630.021235924,652,0.401022287558,-0.005496429651,0.0698549745315,0.999999987467,3.52945553082e-05,-0.000153584215839,1.52330780525e-05,1793244784849376768
+101,1.683333333,BASELINE,765,745,714,680,658,634,880.219874865,786,805,652,630.609937433,652,0.401021343281,-0.00549697370631,0.0698539212948,0.999999987194,3.71575731023e-05,-0.000154900637092,1.54035690842e-05,1793244784866043392
+102,1.700000000,BASELINE,765,745,714.195517657,679.804482343,658,634,880.804482343,786.195517657,805,652,630.804482343,652,0.401020823908,-0.00549724913987,0.0698533722904,0.999999987043,3.78971425688e-05,-0.000155695901968,1.54101218952e-05,1793244784882709760
+103,1.716666667,BASELINE,765,745,714.774968623,679.225031377,658,634,880.225031377,786.774968623,805,652,630.225031377,652,0.401021138912,-0.00549699708732,0.069853813435,0.999999987137,3.64306234264e-05,-0.000155467784479,1.50947531552e-05,1793244784899376384
+104,1.733333333,BASELINE,764.647671485,745.352328515,714.647671485,679.352328515,658.352328515,634,880,787,805,652.352328515,630,652,0.401021960447,-0.00549658344195,0.0698543263301,0.999999987222,3.59529065864e-05,-0.000155051466256,1.49411714416e-05,1793244784916043520
+105,1.750000000,BASELINE,764.071639219,745.928360781,714.071639219,679.928360781,658.928360781,634,880,787,805,652.928360781,630,652,0.401023103593,-0.00549606719652,0.0698548847819,0.9999999873,3.61030093041e-05,-0.000154515653823,1.48903130449e-05,1793244784932710400
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879,787,805,652,630,652,0.401021551441,-0.00549706793761,0.0698548861471,0.999999987346,3.7589757232e-05,-0.000153847619349,1.50511440285e-05,1793244784963841024
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714.40716457,680,658.40716457,634,879,786.40716457,805,652.59283543,630.59283543,652,0.40102284285,-0.00549619764944,0.0698551110767,0.999999987389,3.74389764208e-05,-0.00015360121527,1.5092711046e-05,1793244784980507904
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.181037275,680,658.181037275,634,879,786.181037275,805,652.818962725,631,652,0.401023790778,-0.00549576532817,0.0698552703632,0.999999987456,3.69714730865e-05,-0.000153273699745,1.51341558004e-05,1793244784997174784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.75907807,680,658.75907807,634,879,786.75907807,805,652.24092193,631,652,0.401023985471,-0.00549629344102,0.0698552856988,0.999999987575,3.5809416867e-05,-0.000152768311798,1.51753324473e-05,1793244785013841408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.665081538,680,658.665081538,634,879,787,805,652,631,652,0.401023578905,-0.00549601601507,0.0698550529568,0.99999998752,3.57101052949e-05,-0.000153152449703,1.51189554548e-05,1793244785030508032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.090813698,680,658.090813698,634,879,787,805,652,631,652,0.401022742651,-0.00549516291104,0.0698546429261,0.999999987342,3.63702839361e-05,-0.000154172287024,1.49928617805e-05,1793244785047174656
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,652,631,651.513490241,0.40102372269,-0.00549580769301,0.0698558233239,0.999999987529,3.60162720868e-05,-0.000153015713741,1.51674521537e-05,1793244785063841280
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.065885688,745,714,680,658,634,879.065885688,787,805,652.065885688,631,651.065885688,0.401024590139,-0.00549678328851,0.0698569526712,0.999999987705,3.53386815161e-05,-0.000152004636925,1.53713894881e-05,1793244785080507648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.657049018,745,714,680,658,634,879.657049018,787,805,652.657049018,631,651.657049018,0.401021839878,-0.0054981530908,0.0698552932012,0.999999987241,3.36001848905e-05,-0.000155412917541,1.53589948254e-05,1793244785097174272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.758448527,745,714,680,658.241551473,634,879.758448527,786.758448527,805.241551473,652.758448527,631,652,0.401021677678,-0.00549818442338,0.0698550033152,0.999999986641,3.40971195728e-05,-0.000159113358821,1.54390044484e-05,1793244785113841152
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.183149345,745,714,680,658.816850655,634,879.183149345,786.183149345,805.816850655,652.183149345,631,652,0.401025091358,-0.00549636641418,0.0698566057611,0.999999985848,3.76827131882e-05,-0.000163217473416,1.56466875588e-05,1793244785130508288
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.607722807,634,879.392277193,786.392277193,805.607722807,652,631,652,0.401042699036,-0.00549616613535,0.0698646797215,0.999999986474,3.82419843919e-05,-0.000159156727115,1.60738240539e-05,1793244785147174656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.032236738,634,879.967763262,786.967763262,805.032236738,652,631,652,0.401066935868,-0.00549672140005,0.0698757761339,0.99999998772,3.73878443361e-05,-0.000151282670054,1.66034539271e-05,1793244785163841280
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.558255343,634,879.441744657,786.441744657,805,652.558255343,630.441744657,652,0.401115272856,-0.00549948381046,0.0698917547297,0.999999990454,3.49969029007e-05,-0.000132532164321,1.73782528671e-05,1793244785180507904
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.146561271,680,658.853438729,634,879,786.146561271,805,652.853438729,630,652,0.401169486858,-0.00550175438328,0.0699067305334,0.999999992785,3.36945182479e-05,-0.000113908780805,1.78666167789e-05,1793244785197174528
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.72578488,680,658.27421512,634,879,786.72578488,805,652.27421512,630,652,0.401236828521,-0.00550218636176,0.0699178907511,0.999999994444,3.58748678167e-05,-9.75659934033e-05,1.74664499288e-05,1793244785213840896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.696901023,680,658,634,879,787,805,652.303098977,630.303098977,652,0.401312107004,-0.00550334623183,0.0699251528752,0.999999995397,3.50799274174e-05,-8.77720375675e-05,1.64928532851e-05,1793244785230507520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.121303689,680,658,634,879,787,805,652.878696311,630.878696311,652,0.401394521009,-0.00550516050613,0.0699289104532,0.999999995871,3.16100797236e-05,-8.38657497101e-05,1.50037198694e-05,1793244785247174144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.451733648,679.548266352,658.451733648,634,879.451733648,787,805.451733648,652.548266352,631,652,0.401484708625,-0.00550627081974,0.0699253597782,0.999999995219,3.04447047578e-05,-9.20532863072e-05,1.27226115516e-05,1793244785263841024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.024987746,659,634,880,787,805.975012254,652,631,652,0.401578541189,-0.00550725009364,0.0699200757026,0.999999994191,2.98285364065e-05,-0.000103072410299,1.02214401357e-05,1793244785280507904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.618734686,659,634,880,787,805.381265314,652,631,652,0.401708092747,-0.00550952516048,0.0699197540965,0.999999994071,2.77072720591e-05,-0.000105040242404,7.52467600543e-06,1793244785297174528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.793042687,787,805,652.206957313,630.793042687,652,0.401848280218,-0.00551149113304,0.0699200544542,0.999999993979,2.58377058665e-05,-0.000106547111537,4.6176031633e-06,1793244785313841408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,879.214732645,787,805,652.785267355,630.214732645,652,0.402007552167,-0.00551290248371,0.0699214708292,0.999999993952,2.44197731208e-05,-0.000107226854056,1.33316431641e-06,1793244785330508032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.639306174,680,658.639306174,634,879,786.639306174,805.360693826,653,630,652,0.402188867718,-0.00551526515306,0.0699246310567,0.999999994296,2.19077368345e-05,-0.0001045074607,-2.36815858233e-06,1793244785347174656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.065582717,680,658.065582717,634,879,786.065582717,805.934417283,653,630,652,0.402383202473,-0.00551818968153,0.0699288212223,0.999999994826,1.87495111596e-05,-9.97805014023e-05,-6.31569797415e-06,1793244785363841024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.50886922,805.49113078,652.49113078,630,652,0.402603846122,-0.00551954022563,0.0699290727557,0.999999994688,1.43485992367e-05,-0.000101439499909,-1.12786111719e-05,1793244785380507648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.086387454,714,680,658.086387454,634,879,787,805,652.086387454,630,652,0.402835833327,-0.00552106113414,0.0699295707735,0.999999994597,9.15650513349e-06,-0.000102238395399,-1.64179503089e-05,1793244785397174272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.681406063,714,680,658.681406063,634,879,787,805,652.681406063,630,652,0.403114616914,-0.00552478118704,0.0699345130152,0.999999995426,2.50414858048e-07,-9.31204832028e-05,-2.18244656276e-05,1793244785413841152
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.732281885,714,680,658.732281885,634,879,786.732281885,805,652.732281885,630,652,0.403409632804,-0.0055270517374,0.0699403130002,0.999999996154,-1.13054050056e-05,-8.2894889094e-05,-2.63313331667e-05,1793244785430508288
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.156004632,714,680,658.156004632,634,879,786.156004632,805,652.156004632,630,652,0.403723357255,-0.00552765166,0.0699471015789,0.999999996672,-2.59151763632e-05,-7.13926341475e-05,-2.98013092273e-05,1793244785447175168
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.420989135,805,652.420989135,630,652,0.404062379263,-0.00553046409423,0.0699504470462,0.999999996729,-3.18347087762e-05,-6.82011973947e-05,-2.9621622937e-05,1793244785463841536
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.99824886,805,652.99824886,630,652,0.404410791683,-0.00553409780973,0.0699525144352,0.999999996691,-3.45284361094e-05,-6.80947251987e-05,-2.80871869214e-05,1793244785480507904
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714.583055443,680,658,634.583055443,879,787,805,652.416944557,630.583055443,652,0.404795491362,-0.00553460328889,0.0699592352522,0.999999997498,-2.63495726816e-05,-5.87020630417e-05,-2.93897263741e-05,1793244785497174528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.832668932,679.832668932,658.167331068,634.832668932,879,787,805.167331068,652,631,652,0.405197788425,-0.00553527960302,0.0699649597189,0.999999997976,-2.32474734574e-05,-5.05037526268e-05,-3.09249120829e-05,1793244785513840896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.249769067,679.249769067,658.750230933,634.249769067,879,787,805.750230933,652,631,652,0.405643514541,-0.00553640382718,0.0699681745713,0.999999997888,-3.28357443697e-05,-4.53418046092e-05,-3.30164391509e-05,1793244785530507776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.328372677,679.328372677,659,634,879.328372677,786.671627323,806,652,631,652,0.406094525196,-0.00553363118305,0.0699640592868,0.999999997396,-3.66946299773e-05,-5.16837151535e-05,-3.44987422723e-05,1793244785547174656
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.902947018,679.902947018,659,634,879.902947018,786.097052982,806,652,631,652,0.406549498048,-0.00552793681162,0.0699544481376,0.999999996491,-3.62578358046e-05,-6.66507919914e-05,-3.5524272071e-05,1793244785563841536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.52149679,680,659,634,880,786,805.52149679,652.47850321,630.52149679,651.52149679,0.407040772905,-0.00552003247641,0.0699389126331,0.999999995038,-2.07220448977e-05,-9.00478286586e-05,-3.72288526295e-05,1793244785580508672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.055571312,680,659,634,879.944428688,786,805,653,630,651.055571312,0.40754698128,-0.00551247174865,0.0699248013904,0.999999993158,-4.41919587237e-06,-0.000110193509264,-3.89988103046e-05,1793244785597175552
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.645253184,680,659,634,879.354746816,786,805,653,630,651.645253184,0.408125806736,-0.00551253051456,0.0699359518738,0.999999995732,-1.0238684759e-05,-8.2622275647e-05,-4.00706518835e-05,1793244785613842688
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.768982836,680,659,634,879,786.231017164,805,652.768982836,630,652,0.408731700606,-0.00551465026448,0.069948602066,0.999999997568,-1.64299775192e-05,-5.38588121085e-05,-4.1155533682e-05,1793244785630509056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.189134821,680,659,634,879,786.810865179,805,652.189134821,630,652,0.409378467156,-0.00551988205504,0.069963516785,0.999999998567,-2.3182685625e-05,-2.3295109226e-05,-4.2260105872e-05,1793244785647175168
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.387564351,745,714,680,659,634,879,786.612435649,805.387564351,652,630,652,0.410002897919,-0.00552286253348,0.0699608042181,0.999999998479,-2.33080389406e-05,-2.57330026658e-05,-4.28564100622e-05,1793244785663841792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.962739229,745,714,680,659,634,879,786.037260771,805.962739229,652,630,652,0.410616516449,-0.00552475320605,0.069949558708,0.999999997888,-2.02252499394e-05,-4.41461713794e-05,-4.32066739788e-05,1793244785680508416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.450321989,745,714,680,659,634,879.549678011,786.549678011,805.450321989,652,630,652,0.411271715789,-0.00552356995832,0.069949079205,0.999999997465,-2.42055334335e-05,-5.0061784444e-05,-4.44704717849e-05,1793244785697174784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.135464272,680,658.864535728,634,879.864535728,786.864535728,805,652,630,652,0.4119549905,-0.00552260032241,0.0699569289703,0.999999997775,-2.76753051572e-05,-4.05441322204e-05,-4.51596200155e-05,1793244785713841408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.714803852,680,658.285196148,634,879.285196148,786.285196148,805,652,630,652,0.412720821802,-0.00552302832634,0.069989627622,0.999999998515,-2.78691535631e-05,1.67070342437e-05,-4.37584676387e-05,1793244785730508288
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.706437789,680,658.293562211,634,879.293562211,786,805.293562211,652.293562211,630,652,0.413498081845,-0.00552416587757,0.0700153146237,0.999999997044,-2.90872880725e-05,5.65571825642e-05,-4.32117183627e-05,1793244785747175168
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.128242906,680,658.871757094,634,879.871757094,786,805.871757094,652.871757094,630,652,0.414286423083,-0.00552599139323,0.0700342032587,0.999999995401,-3.12985521602e-05,7.95356214873e-05,-4.34933829843e-05,1793244785763841536
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.446818088,680.446818088,659,634,879.553181912,786,806,652.553181912,630,652,0.415012226369,-0.00552359202629,0.0700010237905,0.999999998255,-3.20639323777e-05,1.87443483427e-05,-4.59411935393e-05,1793244785780508416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.978474743,659,634,879.021525257,786,806,652,630,652,0.415722918089,-0.00552017763872,0.0699538046161,0.999999996202,-3.27911969518e-05,-6.41646768017e-05,-4.90317709694e-05,1793244785797174784
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.389548745,659,634,879.610451255,786,806,652,630,652,0.416505116218,-0.00552174874195,0.06992768546,0.999999992592,-4.33765572212e-05,-0.000100737501586,-5.27914652951e-05,1793244785813840896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.804020098,880,786,806,652,630.195979902,652,0.417318460682,-0.00552340351992,0.0699214094226,0.999999991541,-4.77901092343e-05,-0.000108094202527,-5.43091859845e-05,1793244785830507520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.225129323,880,786,806,652,630.774870677,652,0.418192659657,-0.00552522178377,0.0699539034128,0.999999996167,-4.01450134925e-05,-5.83676424721e-05,-5.14464773006e-05,1793244785847174144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.648906516,680.351093484,659,633.351093484,880,786,806,652,630.648906516,651.648906516,0.419080476705,-0.00552773427417,0.0699797576356,0.999999997578,-4.36907479531e-05,-1.97984171701e-05,-5.04289240841e-05,1793244785863841280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.074381592,680.925618408,659,633.925618408,880,786,806,652,630.074381592,651.074381592,0.419976960088,-0.00553068856147,0.0700013863935,0.999999997175,-5.43581851107e-05,1.16704198867e-05,-5.05856045247e-05,1793244785880508416
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.500361384,681,659,634,880,786.500361384,806,652,630.500361384,651.500361384,0.420874824705,-0.00553613388808,0.0700219871034,0.999999995969,-6.31603302603e-05,4.02451521831e-05,-4.95332193782e-05,1793244785897175040
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,880,786.922434109,806,652,631,652,0.421764822632,-0.0055416589743,0.0700360852663,0.99999999453,-7.15548472188e-05,5.87574636775e-05,-4.86470796921e-05,1793244785913841664
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,880,786.329077029,806,652,631,652,0.422601142911,-0.00554525092451,0.0700079600118,0.999999995532,-7.90834281449e-05,1.32196394171e-05,-5.0062130745e-05,1793244785930507776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.74196308,681.25803692,659,634,880,786.25803692,806,652,631,652,0.423425517774,-0.00554599143207,0.0699531343526,0.999999992456,-8.38561784561e-05,-7.18947881254e-05,-5.37310833228e-05,1793244785947174144
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.162622895,681.837377105,659,634,880,786.837377105,806,652,631,652,0.424235018515,-0.00554318137134,0.0698650617915,0.999999973281,-8.51974145751e-05,-0.000206289347107,-6.02065560713e-05,1793244785963841024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.411634777,714,681.588365223,659,634,880,787,806,652,631,652,0.425163485375,-0.00554532809618,0.0698641124694,0.999999974857,-8.67498798285e-05,-0.000197608316571,-6.09292663362e-05,1793244785980507648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.983908977,714,681.016091023,659,634,880,787,806,652,631,652,0.426138378411,-0.00554940919413,0.0698971627748,0.999999985473,-8.83847767109e-05,-0.000133092394115,-5.94069753745e-05,1793244785997174528
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.426508709,714.573491291,681,659.573491291,634,880.573491291,786.426508709,806,652,631,652,0.427079777798,-0.00555257437265,0.0699570190503,0.999999992331,-9.67607101246e-05,-5.35710517959e-05,-5.5721404504e-05,1793244786013841408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.160614815,745,714.839385185,681,659.839385185,634,880.839385185,786,806,652,631,652,0.428021591094,-0.00555564363968,0.0700087912755,0.999999993229,-0.000102342084513,1.69159818814e-05,-5.27453794834e-05,1793244786030508288
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.74002153,745,714.25997847,681,659.25997847,634,880.25997847,786,806,652,631,652,0.428967010204,-0.00555853191731,0.0700374627672,0.99999999168,-0.000100128325794,6.27147339761e-05,-5.17826356908e-05,1793244786047175168
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.68261287,745,714,680.68261287,659,634,880,786,806,652,630.68261287,651.68261287,0.429883165964,-0.00555882944028,0.0700426006614,0.999999991117,-9.90482205318e-05,7.18461689654e-05,-5.28552800965e-05,1793244786063841536
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.106908535,745,714,680.106908535,659,634,880,786,806,652,630.106908535,651.106908535,0.430775504622,-0.00555701838202,0.070028584869,0.999999992258,-9.8890781091e-05,5.11345551428e-05,-5.55845002523e-05,1793244786080507904
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.469813206,659,634,880,786.469813206,806,652,630.469813206,651.469813206,0.431588359784,-0.00555449342491,0.0699566390774,0.999999991202,-9.54222567838e-05,-7.17325584229e-05,-5.78382768043e-05,1793244786097174528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.047731424,745.047731424,714,681,659.047731424,634,880,787,806.047731424,652,631,652,0.432391378359,-0.00555221011174,0.0698799598869,0.999999973522,-9.17735694291e-05,-0.000202366807196,-5.98506542246e-05,1793244786113840896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.636582994,745.636582994,714,681,659.636582994,634,880,787,806.636582994,652,631,652,0.433288373169,-0.0055545119349,0.0698993881659,0.999999981384,-9.46427248389e-05,-0.000156948280642,-6.03555398624e-05,1793244786130507776
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.778264085,745.778264085,714,681,660,634,880.221735915,786.778264085,807,652,631,652,0.43419412578,-0.0055568258417,0.0699360167161,0.999999989345,-9.88396482005e-05,-8.9250486403e-05,-5.97931065302e-05,1793244786147174656
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.199073569,745.199073569,714,681,660,634,880.800926431,786.199073569,807,652,631,652,0.435113996749,-0.00555915922857,0.0700003733714,0.999999992712,-0.000105177031139,1.43631335528e-05,-5.75100763105e-05,1793244786163841536
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764.070513957,746,714,682.070513957,654,629,881.929486043,783,807,652,630.858972086,652,0.452205063183,-0.00557432598368,0.0695381322851,0.999999745678,-0.000117919645055,-0.000700233146359,-6.64191572052e-05,1793244787230508288
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+244,4.066666667,HOLD_POSE2,764,745,714,683,653,629,880,782,806,652,629,652,0.452205220289,-0.00557519131986,0.0695379759849,0.999999746087,-0.00011590707672,-0.000700005084397,-6.62219745812e-05,1793244787289616640
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+249,4.150000000,HOLD_POSE2,765,746,714,682.103747235,654,629,880,782.103747235,806.103747235,651.103747235,629.896252765,652,0.452206125261,-0.00557308686808,0.0695384103902,0.999999745524,-0.000113973329262,-0.000701176216146,-6.56748430381e-05,1793244787372950528
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+256,4.266666667,HOLD_POSE2,764.041834762,745.041834762,713.041834762,682.041834762,654.041834762,629.041834762,880,782.958165238,806.958165238,652,629,652,0.452208694163,-0.00557181194697,0.0695378986524,0.999999746057,-0.000113800350038,-0.000700493964167,-6.51372011111e-05,1793244787489617152
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.13392065,713.13392065,683,655.86607935,630.86607935,880.13392065,784.86607935,807,652,630,651.13392065,0.446782441622,-0.00544847679294,0.0695172602869,0.999999696754,0.000121054774673,-0.000769228027691,1.12379457378e-05,1793244788176911104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.45607785,713.45607785,683,656,631,880,784.54392215,806.54392215,652,630,651.45607785,0.446296309711,-0.00543885075951,0.0695211878273,0.999999706681,0.000101532410149,-0.000759155966939,3.41645908577e-06,1793244788193577728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.949224616,714,683,656,631,880.050775384,784.050775384,806.050775384,652,630,652,0.445803430865,-0.00543026583823,0.069530560973,0.999999723142,7.24949984731e-05,-0.000740555708441,-6.05603032531e-06,1793244788210244352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.3728601,714,683,656,631,880.6271399,784.6271399,806.6271399,652,630,652,0.445275865108,-0.00542768626397,0.0695571083375,0.999999752825,8.37576479653e-05,-0.000698090960283,-1.65044073272e-06,1793244788226911232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.203210481,631.203210481,880.796789519,785,807,652,630,652,0.44473099185,-0.00542759122179,0.069581599214,0.999999778318,9.32466160677e-05,-0.00065929046969,2.05426992585e-06,1793244788243578112
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,656.778742481,631.778742481,880.221257519,785,807,652,630,652,0.444154407885,-0.00543204833057,0.069602322199,0.999999798349,9.94858509616e-05,-0.000627203622838,4.47483243273e-06,1793244788260244736
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.363289397,714,683,657,632,880.363289397,785,807,651.636710603,630,652,0.443552805269,-0.00543290957899,0.0696179983073,0.999999814127,9.86476384547e-05,-0.000601643719725,6.2443040708e-06,1793244788276911104
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.466746233,714,683,657,632,881,785,806.466746233,651.533253767,630.533253767,652,0.442281628241,-0.00542899095851,0.0696535464635,0.999999844537,0.000108443963826,-0.000546858840133,1.05279789338e-05,1793244788310244352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.888505075,657.111494925,632.111494925,881,785,806.111494925,652,630.888505075,652,0.441622479129,-0.00542598768769,0.0696804368389,0.999999865146,0.00012121515123,-0.000504815616858,1.32976182708e-05,1793244788326911232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.312997724,657.687002276,632.687002276,881,785,806.687002276,652,630.312997724,652,0.440954771463,-0.00542144146655,0.069719677668,0.999999900307,0.000117247064989,-0.000430600593431,1.48830275289e-05,1793244788343577856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880.73678188,785,807,651.73678188,630,652,0.440259983224,-0.00541834559867,0.0697500815801,0.999999922072,0.00011890090098,-0.000376080275797,1.68241068435e-05,1793244788360244736
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880.159721205,785,807,651.159721205,630,652,0.43953290595,-0.00541697902821,0.0697699489862,0.999999932191,0.000127257916964,-0.000345042515936,1.91892620976e-05,1793244788376911616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.426326166,658.426326166,633,880,785.426326166,807,651.426326166,630.426326166,652,0.438754140807,-0.00541559100693,0.0697510749627,0.999999921751,0.000124730902781,-0.000375030842088,1.70905306328e-05,1793244788393578240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.984424647,659,633,880,786,806.984424647,651.984424647,631,652,0.437955510396,-0.00541437112084,0.0697183098397,0.999999901879,0.000117949930481,-0.000426790420596,1.34058890664e-05,1793244788410244864
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.403790768,659,633,880,786,806.403790768,651.403790768,631,652,0.437153843326,-0.00541954884455,0.0697194925847,0.99999990542,0.000107958288401,-0.000421076240978,1.41645856215e-05,1793244788426911232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.824877604,633,879.824877604,786,806,651.175122396,630.824877604,652,0.436350259124,-0.00542253830799,0.0697357173858,0.999999917024,0.000103855940013,-0.000393592246146,1.58382727141e-05,1793244788443577600
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.249893432,633,879.249893432,786,806,651.750106568,630.249893432,652,0.43554229753,-0.0054205312563,0.0697862881264,0.999999943346,0.000113200777897,-0.000316400633059,1.96011827341e-05,1793244788460243968
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.511307105,714,681.511307105,659,633.488692895,880,786,806.488692895,652,631,652,0.433027581043,-0.00541540200896,0.0698436577554,0.999999960672,0.000125662052388,-0.000249440523158,2.53997655086e-05,1793244788510244864
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.195830606,633,880.195830606,786,806,652,631,652,0.429297688046,-0.00540487839615,0.0697139926047,0.999999889045,0.000139830405185,-0.000449383347227,2.02957790424e-05,1793244788576911104
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.978802698,745,714,681.021197302,658.978802698,633,880,786,806.978802698,652,631,652,0.427590030544,-0.00541138083196,0.0697906098017,0.999999934949,0.000133151080269,-0.000334230740225,2.57496848021e-05,1793244788610244096
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786,806,652,631,652,0.42209780855,-0.00539674441708,0.0697283213323,0.999999885437,0.000155657125513,-0.000452005909351,2.42450393335e-05,1793244788710244608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.040920338,714,681,658.959079662,634,880,786,806,652,631,652,0.42112349198,-0.00539500086066,0.0696746365626,0.999999837704,0.000164171065471,-0.000545086903197,2.2792878891e-05,1793244788726911232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.617099209,714,681,658.382900791,634,880,786,806,652,631,652,0.420328325219,-0.00539788224709,0.0697257353463,0.999999886814,0.000148381665617,-0.00045147588122,2.29097774854e-05,1793244788743577856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.806607481,714,681,658.386785038,634,879.806607481,786,805.806607481,652,631,652,0.419538836176,-0.00539964102579,0.0697837688047,0.999999927939,0.000141611095463,-0.000351356122088,2.48264318108e-05,1793244788760244224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.230087356,714,681,659.539825289,634,879.230087356,786,805.230087356,652,631,652,0.418760595052,-0.00539917582029,0.0698555404731,0.999999959477,0.000152707619123,-0.000238341968086,3.03085608511e-05,1793244788776910848
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.477379632,658,634,879.522620368,786,805.522620368,652,631,652,0.416238437168,-0.0053936741796,0.0698233364813,0.999999944452,0.000167927212609,-0.000286376148638,2.97611110827e-05,1793244788826911488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.101265682,745,714,680.101265682,658.101265682,634,879.898734318,786,806,652,631,652,0.41540618687,-0.00538977202126,0.0697911085667,0.999999934987,0.00016686055003,-0.000318544675528,2.66964002723e-05,1793244788843578112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.675932468,745,714,680.675932468,658.675932468,634,879.324067532,786,806,652,631,652,0.414574315784,-0.00538659618478,0.0697644664353,0.999999912905,0.000172711692038,-0.000379081366724,2.56477892366e-05,1793244788860244480
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.583800276,745,714.583800276,680.583800276,658,634,879.416199724,786,806,652,631,652,0.411070859535,-0.00538310471521,0.0698723969092,0.999999962692,0.000187974518789,-0.000195850936265,3.0410678554e-05,1793244788943578112
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.030520042,786,805,652,630,652,0.404993763848,-0.00537018494119,0.0698041439432,0.999999925512,0.000202182739809,-0.000327893279347,2.41641933793e-05,1793244789126910976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.546518419,786,805.546518419,652,630.546518419,652,0.404636796354,-0.00537034837423,0.0698233652376,0.999999936559,0.000201319487069,-0.000292838916791,2.44528171256e-05,1793244789143577600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.754419674,652,630.877209837,652,0.40428660679,-0.00537009561251,0.0698400818975,0.999999945291,0.000200356752891,-0.000262042916064,2.46654168372e-05,1793244789160244224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.600483269,652,630.300241634,652,0.403948789306,-0.00536855647698,0.0698447007408,0.999999948141,0.000199397530248,-0.000251712439142,2.4500032766e-05,1793244789176910848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.724414454,714,680,657.724414454,634,879,786,804.275585546,652,630.275585546,652,0.40362203927,-0.00536686278242,0.0698408667731,0.999999946356,0.000201623513717,-0.000257059407902,2.35947818172e-05,1793244789193577472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.149825291,714,680,657.149825291,634,879,786,804.850174709,652,630.850174709,652,0.403307297165,-0.00536500139519,0.0698278617106,0.999999939236,0.000207305368381,-0.000279416024649,2.18867932951e-05,1793244789210244096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.439060052,714,680,657,634,879,786,805,652,631,652,0.403015822104,-0.0053636330858,0.0698185518684,0.999999933121,0.000211931567048,-0.000297305702886,2.1266905793e-05,1793244789226910720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.032046048,634,879,786,805,652,631,652,0.402735425926,-0.00536250720821,0.0698106490103,0.999999927472,0.000215735915786,-0.000313163674677,2.10256915016e-05,1793244789243577344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.609014416,634,879,786,805,652,631,652,0.402503865985,-0.00536254630514,0.0698045075211,0.99999992573,0.000211896936249,-0.000321265953034,2.06972723153e-05,1793244789260244224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.402285519164,-0.00536140434193,0.0697999254707,0.999999924412,0.000209596663143,-0.000326849620548,2.03546308725e-05,1793244789276910848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.402094949883,-0.00535777947467,0.0697986217783,0.999999924129,0.000210531162662,-0.000327138494043,1.99820904904e-05,1793244789293577728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401925979386,-0.005356726189,0.0698001207083,0.99999992501,0.000209441666111,-0.000325146773477,1.98429289268e-05,1793244789310244352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401772684137,-0.00535753922231,0.0698036536348,0.999999926721,0.000206883259221,-0.000321499917108,1.98731414584e-05,1793244789326910720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.4871016,0.401638370797,-0.00535843888167,0.0698030062073,0.999999926609,0.000208975279003,-0.000320554231718,1.88784187281e-05,1793244789343577344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.089911901,652,631,651.089911901,0.401511380664,-0.00535902143291,0.0698017385488,0.999999925901,0.000212576636333,-0.000320456424575,1.77783964673e-05,1793244789360244224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.665139265,652,631,651.665139265,0.401411044839,-0.00535783358538,0.0697999582913,0.999999923203,0.00022117089041,-0.000323103196981,1.68051345457e-05,1793244789376911360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.759605451,745,714,680,658,634,879,786,805.759605451,652,631,652,0.401320598629,-0.00535768791905,0.0697990306385,0.999999922508,0.000222890451106,-0.000324115383635,1.58995814209e-05,1793244789393577728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.184311307,745,714,680,658,634,879,786,805.184311307,652,631,652,0.401243929891,-0.0053589941412,0.0697992907704,0.99999992465,0.000215032705836,-0.000322850388289,1.50883551557e-05,1793244789410244352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.403281827,745,714,679.596718173,658,634,879,786,805,652,631,652,0.40118138717,-0.00535834101442,0.0698002276335,0.999999925565,0.000213615265383,-0.000320940339312,1.53548187499e-05,1793244789426911232
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.429723857,745,714,679.570276143,658,634,879.570276143,786,805,652.570276143,631,652,0.40108916601,-0.00535614753425,0.0698050174116,0.999999928095,0.000213789463078,-0.000312810417793,1.59420644408e-05,1793244789460244480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.143930784,745,714,680,658.143930784,634,879.856069216,786,805,652.856069216,631,652,0.401056728918,-0.0053556755875,0.0698086667658,0.999999930149,0.000213233091262,-0.000306561986524,1.58881149821e-05,1793244789476911104
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.71807201,745,714,680,658.71807201,634,879.28192799,786,805,652.28192799,631,652,0.401035620802,-0.00535562014721,0.0698126228165,0.999999931858,0.000215382531393,-0.000299381680945,1.62488008539e-05,1793244789493577728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.697626818,634,879,786,805,652,631,652,0.401016143159,-0.00535608619797,0.0698149711751,0.9999999329,0.000215099791343,-0.000296084051205,1.63081718562e-05,1793244789510244096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.103523236,634,879,786,805,652,631,652,0.400998238596,-0.00535705538461,0.0698157684289,0.999999933333,0.000212470478058,-0.000296532435942,1.60768335653e-05,1793244789526910976
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.946698733,786,805.053301267,652.946698733,631,652,0.400982677283,-0.00535748457389,0.0698207490546,0.99999993568,0.000213409500403,-0.000287780413525,1.66787236662e-05,1793244789560244480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.367959771,786,805.632040229,652.367959771,631,652,0.400979852003,-0.00535747166468,0.0698219007197,0.999999936335,0.000213140948664,-0.000285717972339,1.63390014068e-05,1793244789576911104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.209160186,657.790839814,634.209160186,879,786.209160186,806,652,631,652,0.400977583801,-0.00535816107741,0.0698228900563,0.99999993717,0.000211704806372,-0.000283861713448,1.62113903607e-05,1793244789593577472
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.78345379,657.21654621,634.78345379,879,786.78345379,806,652,631,652,0.400976288094,-0.0053600765419,0.0698235960144,0.99999993832,0.000208230387404,-0.000282365389557,1.64540643974e-05,1793244789610244096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.36810116,680,657.36810116,634.63189884,879,786.63189884,805.63189884,652,631,652,0.400974833181,-0.00535948466037,0.0698243923762,0.999999938455,0.000209158627522,-0.000281203840202,1.63624681346e-05,1793244789626910976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.959015693,680,657.959015693,634.040984307,879,786.040984307,805.040984307,652,631,652,0.4009732819,-0.00535737507036,0.0698252434599,0.999999937971,0.000212751818131,-0.000280244931508,1.60685364697e-05,1793244789643577600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.460500231,680,658,634.539499769,879.539499769,786,805,652,631,652,0.40097505309,-0.00535720362828,0.0698266364103,0.999999938622,0.00021280933176,-0.000277856300989,1.62378664408e-05,1793244789660244224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.882097752,879.882097752,786,805,652,631,652,0.400976196378,-0.00535767955658,0.069827632114,0.999999939263,0.000211989341959,-0.000276161457378,1.63853796561e-05,1793244789676911104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.308733807,879.308733807,786,805,652,631,652,0.400973957516,-0.00536009831543,0.0698269372332,0.999999939549,0.000208797433888,-0.000277558359625,1.63152412638e-05,1793244789693577728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.271464039,879,786,805,652,631,652,0.400973346942,-0.00536048128004,0.0698269986335,0.999999939564,0.000208647061938,-0.000277622292304,1.62810693223e-05,1793244789710244096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.859634812,879,786,805,652,631,652,0.400974636029,-0.00535848916151,0.0698279423582,0.999999939262,0.000212045133682,-0.000276131100446,1.62888580571e-05,1793244789726910976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.556945311,879,786,805,652,631,652,0.400974678408,-0.00535835500067,0.0698283675614,0.999999939692,0.000210958495154,-0.000275415306813,1.60679912797e-05,1793244789743577600
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.975367839,658,634,879,786,805,652,630.975367839,652,0.400974333913,-0.00535881426404,0.0698285923085,0.999999940318,0.000208528437658,-0.000275009394271,1.57834430573e-05,1793244789760244224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.40166338,658,634,879,786,805,652,630.40166338,652,0.400974076537,-0.00535951973495,0.0698279716747,0.999999940238,0.000207487515668,-0.000276093215708,1.56770184162e-05,1793244789776910848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.827444903,744.827444903,714,679.172555097,658,634,878.827444903,786,805.172555097,652,630.172555097,651.827444903,0.400974547413,-0.00536001545867,0.0698280965941,0.999999940357,0.000207233065682,-0.000275854515188,1.56603710228e-05,1793244789793577216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.252026382,744.252026382,714,679.747973618,658,634,878.252026382,786,805.747973618,652,630.747973618,651.252026382,0.400976718537,-0.00536002148677,0.0698299621525,0.999999940937,0.000208814787557,-0.000272528129969,1.58533260754e-05,1793244789810244096
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.333576388,744.333576388,714,680,658,634,878.333576388,786,805.666423612,652,631.333576388,651,0.400977172575,-0.00536030142,0.0698311545676,0.999999941135,0.000209781338873,-0.000271028339597,1.62709466844e-05,1793244789826910976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.927115933,744.927115933,714,680,658,634,878.927115933,786,805.072884067,652,631.927115933,651,0.40097628845,-0.00536079481332,0.0698318223877,0.999999941044,0.000210268474646,-0.000270952053506,1.68636539201e-05,1793244789843577600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.495166328,658,634,879,786,805,652,631.495166328,651.504833672,0.400974591564,-0.0053609094129,0.0698306735127,0.999999940742,0.000209640949366,-0.000272569663708,1.652406447e-05,1793244789860244480
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.077095857,658,634,879,786,805,652,630.922904143,651.922904143,0.40097302102,-0.00536076378883,0.0698294608949,0.999999940429,0.000209047122438,-0.000274197582501,1.60554911504e-05,1793244789876911104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.629383062,658,634,879,786,805,652,630.370616938,651.370616938,0.40097293046,-0.00535934106944,0.0698294228684,0.999999940252,0.000209622751058,-0.0002744275133,1.55963106726e-05,1793244789893577728
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.197023289,651.197023289,0.400973517649,-0.0053587762167,0.0698298515869,0.99999994045,0.000209638903708,-0.000273702688301,1.54075408961e-05,1793244789910244096
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,630.795984604,651.795984604,0.40097548748,-0.00535996145744,0.0698312324902,0.999999941408,0.000208513695627,-0.000271030110552,1.57704232984e-05,1793244789926910720
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.609154414,786,805,652,630.609154414,651.609154414,0.400976244681,-0.00536043304761,0.0698317810522,0.999999941947,0.000207249339501,-0.00027001022511,1.57566903504e-05,1793244789943577600
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.016411557,786,805,652,630.016411557,651.016411557,0.400976375479,-0.00536053599059,0.0698318996554,0.999999942271,0.000205913104388,-0.00026984406334,1.55484109565e-05,1793244789960244480
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e662941ae2abbe10d004ea4827cc758c2d575422
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+5,0.083333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+9,0.150000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+11,0.183333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+12,0.200000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+13,0.216666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+14,0.233333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+15,0.250000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+16,0.266666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+17,0.283333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+262,4.366666667,pose2_to_pose3_retreat,0.617962526259,-0.000122172919297,1.06005099372,0.588534161156,0.00855352071554,1.05971748622
+263,4.383333333,pose2_to_pose3_retreat,0.617962526748,-0.000122173937622,1.06005099984,0.588534161398,0.00855351881264,1.05971749114
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+265,4.416666667,pose2_to_pose3_retreat,0.617962268779,-0.000122126441243,1.06005082772,0.588533901558,0.00855356008398,1.05971732209
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+277,4.616666667,pose2_to_pose3_retreat,0.617636476732,-0.000122207700967,1.06005101897,0.5882081114,0.0085534850312,1.05971751109
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+365,6.083333333,pose2_to_pose3_retreat,0.576327850342,-0.000122176020979,1.06005084675,0.546899483534,0.00855351003868,1.0597173462
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+367,6.116666667,pose2_to_pose3_retreat,0.576117350748,-0.000122225683836,1.06005096833,0.546688985792,0.00855346650424,1.05971746374
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+370,6.166666667,pose2_to_pose3_retreat,0.575894735631,-0.000122087916297,1.06005097962,0.546466368226,0.00855359588627,1.05971747367
+371,6.183333333,pose2_to_pose3_retreat,0.57584289818,-0.000122111062494,1.06005105592,0.546414530912,0.00855357308547,1.05971754666
+372,6.200000000,pose2_to_pose3_retreat,0.575800609436,-0.000122179394733,1.06005104312,0.546372243321,0.00855350862453,1.05971753291
+373,6.216666667,pose2_to_pose3_retreat,0.575767417394,-0.000122206366611,1.0600510899,0.546339051722,0.00855348328328,1.05971758295
+374,6.233333333,pose2_to_pose3_retreat,0.575741188297,-0.000122063852546,1.06005097989,0.546312819975,0.00855361686387,1.05971747442
+375,6.250000000,pose2_to_pose3_retreat,0.575721257278,-0.000122121330991,1.06005076888,0.546292888829,0.00855355919104,1.05971726953
+376,6.266666667,pose2_to_pose3_retreat,0.575705815648,-0.000122179920386,1.06005088337,0.546277447996,0.00855350307913,1.05971737822
+377,6.283333333,pose2_to_pose3_retreat,0.575694501271,-0.000122196386083,1.0600509352,0.546266134274,0.00855348865999,1.05971742559
+378,6.300000000,pose2_to_pose3_retreat,0.575686080551,-0.000122162413892,1.06005076958,0.546257713666,0.00855352309398,1.05971726225
+379,6.316666667,pose2_to_pose3_retreat,0.575680570089,-0.00012213126352,1.06005081914,0.546252203486,0.00855355533987,1.05971731519
+380,6.333333333,pose2_to_pose3_retreat,0.575677461505,-0.000122133551285,1.06005088432,0.546249095134,0.00855355383931,1.05971738029
+381,6.350000000,pose2_to_pose3_retreat,0.575675467013,-0.000122184808698,1.06005101159,0.546247100962,0.00855350347198,1.05971750248
+382,6.366666667,pose2_to_pose3_retreat,0.575674173197,-0.000122218059088,1.06005109416,0.546245807354,0.00855347079898,1.05971758175
+383,6.383333333,pose2_to_pose3_retreat,0.57567351235,-0.000122235042507,1.06005113633,0.546245146614,0.00855345411047,1.05971762224
+384,6.400000000,pose2_to_pose3_retreat,0.575673326497,-0.000122237290211,1.06005114603,0.546244960788,0.0085534519402,1.05971763155
+385,6.416666667,pose2_to_pose3_retreat,0.575673047592,-0.000122224040706,1.06005114642,0.546244681907,0.00855346526972,1.05971763187
+386,6.433333333,pose2_to_pose3_retreat,0.575672869731,-0.00012221559133,1.06005114667,0.546244504061,0.00855347377012,1.05971763208
+387,6.450000000,pose2_to_pose3_retreat,0.575672707679,-0.000122207893008,1.0600511469,0.546244342024,0.00855348151492,1.05971763227
+388,6.466666667,pose2_to_pose3_retreat,0.57567266284,-0.000122205762913,1.06005114696,0.546244297189,0.00855348365788,1.05971763232
+389,6.483333333,pose2_to_pose3_retreat,0.575672439955,-0.000122195174665,1.06005114727,0.546244074323,0.00855349431007,1.05971763259
+390,6.500000000,pose2_to_pose3_retreat,0.575672425712,-0.000122194498022,1.06005114729,0.546244060081,0.0085534949908,1.0597176326
+391,6.516666667,pose2_to_pose3_retreat,0.575672282049,-0.000122187673257,1.06005114749,0.54624391643,0.00855350185677,1.05971763277
+392,6.533333333,pose2_to_pose3_retreat,0.575672032831,-0.000122175834048,1.06005114784,0.546243667234,0.00855351376747,1.05971763306
+393,6.550000000,pose2_to_pose3_retreat,0.575671734348,-0.000122161654527,1.06005114826,0.546243368778,0.00855352803262,1.05971763341
+394,6.566666667,pose2_to_pose3_retreat,0.575671500445,-0.000122150542842,1.06005114859,0.546243134895,0.0085535392114,1.05971763369
+395,6.583333333,pose2_to_pose3_retreat,0.57567143881,-0.000122147614876,1.06005114868,0.546243073266,0.00855354215705,1.05971763376
+396,6.600000000,pose2_to_pose3_retreat,0.575671256144,-0.000122138937221,1.06005114893,0.546242890615,0.0085535508871,1.05971763397
+397,6.616666667,pose2_to_pose3_retreat,0.575670830737,-0.000122141173135,1.06005108039,0.546242465112,0.00855354833977,1.05971756577
+398,6.633333333,pose2_to_pose3_retreat,0.575670463593,-0.000122180205633,1.06005090693,0.546242097666,0.008553508322,1.05971739334
+399,6.650000000,pose2_to_pose3_retreat,0.575670383134,-0.00012218875953,1.06005086892,0.546242017141,0.00855349955219,1.05971735556
+400,6.666666667,pose2_to_pose3_retreat,0.575670217076,-0.000122206413864,1.06005079046,0.546241850946,0.00855348145222,1.05971727757
+401,6.683333333,pose2_to_pose3_retreat,0.575669889922,-0.000122228914359,1.06005066882,0.5462415234,0.00855345766619,1.05971715711
+402,6.700000000,pose2_to_pose3_retreat,0.575669606425,-0.00012218071438,1.06005074489,0.546241238885,0.00855350250537,1.05971723566
+403,6.716666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6a8b698f001605aab6dce6d8dc5f79552e17710
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ede9f37a92ac750999aa313ae3955ed5fcc4944eb8f281b0681ccfcd056ceff
+size 25660072
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42465935c0758b1fd73b043337ea09cc20e8e6c6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+1,0.016666667,BASELINE,765,745,714,680,658.573573301,634,879,786,805,652,631,652,0.400974416029,-0.00536155353377,0.0698311390592,0.99999994152,0.000207575824906,-0.000271353579361,1.54957976864e-05,1793244790092158976
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+4,0.066666667,BASELINE,764.692809619,745,714,680,658,634,878.307190381,786,805,652,630.692809619,652.385619239,0.400975245247,-0.00536247191794,0.0698314588754,0.999999942926,0.000203158261946,-0.000269519046758,1.53040828769e-05,1793244790142159616
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+20,0.333333333,BASELINE,765,745,714.400690533,680,658,634,879,786.400690533,805,652,631,652,0.400976499887,-0.00536132893208,0.0698328506989,0.999999942546,0.000208063113552,-0.00026717877266,1.52425891571e-05,1793244790408825600
+21,0.350000000,BASELINE,765,745,714,679.82053025,658,634,879,786,805.17946975,652,631,652,0.400975974729,-0.00536078854528,0.069832542406,0.999999942235,0.000208849565819,-0.000267743741888,1.50224554896e-05,1793244790425492480
+22,0.366666667,BASELINE,765,745,714,679.233124796,658,634,879,786,805.766875204,652,631,652,0.400976676422,-0.00536053928012,0.0698326130155,0.999999941839,0.000210591977584,-0.000267829089438,1.552500878e-05,1793244790442159104
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+27,0.450000000,BASELINE,765,745,714.655639391,680,658,634.344360609,879,786,805,652,630.344360609,652,0.400976359138,-0.00536226493968,0.0698340028857,0.999999942886,0.000207293543321,-0.0002665098501,1.51549849111e-05,1793244790525492224
+28,0.466666667,BASELINE,765,745,714.76263108,680,658,634,879,786,805,652,630.23736892,652,0.400976809645,-0.00536386847283,0.0698345473809,0.999999943415,0.000205546259187,-0.000265862857333,1.54287974118e-05,1793244790542158848
+29,0.483333333,BASELINE,765,745,714.172398393,680,658,634,879,786,805,652,630.827601607,652,0.400977142813,-0.00536435077793,0.0698341438169,0.999999943709,0.000204115438267,-0.000265857857342,1.54747672949e-05,1793244790558825472
+30,0.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.40097704959,-0.00536281277094,0.0698341601315,0.999999943264,0.000206266690191,-0.000265875606322,1.53405020569e-05,1793244790575492352
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+41,0.683333333,BASELINE,765,745,714,679.207779975,658,634,878.207779975,786,804.41555995,652,631,652,0.400974916806,-0.00536193062479,0.0698327538688,0.999999942166,0.000208707462004,-0.000268095277202,1.5314167549e-05,1793244790758825472
+42,0.700000000,BASELINE,765,745,714,679.374518532,658,634.374518532,878.374518532,786,804.374518532,652,630.625481468,652,0.400975562838,-0.00536314938002,0.06983333779,0.999999942995,0.000205687253842,-0.00026733578587,1.53341990081e-05,1793244790775492352
+43,0.716666667,BASELINE,765,745,714,679.953521338,658,634.953521338,878.953521338,786,804.953521338,652,630.046478662,652,0.400976610144,-0.00536506064432,0.0698343307285,0.999999944192,0.000201435193029,-0.000266084014802,1.54324424394e-05,1793244790792159232
+44,0.733333333,BASELINE,765,745,714,680,658.530105506,634.469894494,879,786,805,652,630.530105506,652,0.400976032338,-0.00536344615306,0.0698337661603,0.999999943461,0.000204971419756,-0.000266128291777,1.55370521865e-05,1793244790808825600
+45,0.750000000,BASELINE,765.105815406,745,714,679.894184594,658.894184594,634,879,786,805,652,631,652,0.400975391506,-0.00536158406928,0.0698331646993,0.999999942676,0.000208401736577,-0.000266411739946,1.55562007169e-05,1793244790825491968
+46,0.766666667,BASELINE,765.678598553,745,714,679.321401447,658.321401447,634,879,786,805,652,631,652,0.400975098487,-0.00535998736486,0.0698330003336,0.999999942465,0.000208364853865,-0.000267251461763,1.5195753242e-05,1793244790842159104
+47,0.783333333,BASELINE,765.739864751,744.739864751,714,679,658,634,879,786,805.260135249,652,631,652,0.40097519257,-0.00536022726922,0.0698330284286,0.999999942702,0.000207291459421,-0.000267209606002,1.50131946672e-05,1793244790858825984
+48,0.800000000,BASELINE,765.147136214,744.147136214,714,679,658,634,879,786,805.852863786,652,631,652,0.40097578158,-0.00536281535092,0.069833302592,0.999999943507,0.000204892843396,-0.000266040618273,1.50580740947e-05,1793244790875492608
+49,0.816666667,BASELINE,765,744.435762944,714,679.435762944,658.435762944,634,878.564237056,786,805.564237056,652.435762944,631,652,0.400976092904,-0.00536281871641,0.0698334617271,0.999999943303,0.000205743561429,-0.000266148806223,1.51308807846e-05,1793244790892158976
+50,0.833333333,BASELINE,765,745,714,680,658.984781233,634,878.015218767,786,804.984781233,652.984781233,631,652,0.400976321882,-0.0053619954842,0.0698335869527,0.999999942783,0.000207603598513,-0.000266651813006,1.52060519315e-05,1793244790908825600
+51,0.850000000,BASELINE,765,745,714,680,658.412557632,634,878.587442368,786,804.412557632,652.412557632,631,652,0.400976892994,-0.00536215623912,0.069833861263,0.999999943011,0.000207135048935,-0.000266169946157,1.50302496656e-05,1793244790925492224
+52,0.866666667,BASELINE,765,745,714,679.835443334,658,634,879,786,804.164556666,652,630.835443334,652,0.400976918594,-0.0053622616643,0.0698337888335,0.999999943212,0.000206349955088,-0.000266032652269,1.49327809879e-05,1793244790942159104
+53,0.883333333,BASELINE,765,745,714,679.245692097,658,634,879,786,804.754307903,652,630.245692097,652,0.400975534653,-0.00536222412414,0.06983282047,0.999999943339,0.000204746949069,-0.000266785693366,1.50377168605e-05,1793244790958825472
+54,0.900000000,BASELINE,765,745,714,679.675698228,658,634,879,786,805,652,630.337849114,652,0.400975815711,-0.0053626936658,0.0698333510895,0.999999943506,0.000204493090314,-0.00026634038062,1.53053569048e-05,1793244790975492352
+55,0.916666667,BASELINE,765,745,714,680.833911461,658,634,879,786,805,652,630.916955731,652,0.400977285742,-0.00536352531376,0.0698349521304,0.9999999437,0.000205202655493,-0.000265039325312,1.56891837287e-05,1793244790992159232
+56,0.933333333,BASELINE,764.504916073,745,714,680.504916073,658,634,878.504916073,786,805,652,631,651.504916073,0.40097687526,-0.00536190055567,0.069835034574,0.999999943405,0.00020639967946,-0.000265236944997,1.54730272831e-05,1793244791008825856
+57,0.950000000,BASELINE,764.072737137,745,714,680,658,634,878.072737137,786,805,652,631,651.072737137,0.400976068796,-0.00536012708952,0.0698346796305,0.999999942966,0.0002075847775,-0.000265982745296,1.51491273763e-05,1793244791025492480
+58,0.966666667,BASELINE,764.648239083,745,714,680,658,634,878.648239083,786,805,652,631,651.648239083,0.400974701265,-0.00536016812322,0.0698330586482,0.999999942111,0.000208123388907,-0.000268783451399,1.47747548636e-05,1793244791042159104
+59,0.983333333,BASELINE,765,745,713.778220262,679.778220262,658,634.221779738,879,786,805,652,631,652,0.40097461786,-0.00536073624426,0.069832628734,0.999999942043,0.000207654993555,-0.000269402692077,1.47089441639e-05,1793244791058825728
+60,1.000000000,BASELINE,765,745,713.207763022,679.207763022,658,634.792236978,879,786,805,652,631,652,0.400976553334,-0.00536213304108,0.0698340713923,0.999999943213,0.000205603403149,-0.000266592278497,1.51282478891e-05,1793244791075492352
+61,1.016666667,BASELINE,765,745,713.374740616,679,658,634.625259384,879,786,805,652,631,652,0.400977802177,-0.0053625034544,0.0698348406951,0.999999943395,0.000206990771013,-0.000264822461663,1.53167194643e-05,1793244791092158976
+62,1.033333333,BASELINE,765,745,713.964144786,679,658,634.035855214,879,786,805,652,631,652,0.400978657697,-0.00536228592194,0.0698352242779,0.999999943003,0.000210348085597,-0.00026364873249,1.5372962888e-05,1793244791108825600
+63,1.050000000,BASELINE,765,745,714,679.546690561,658,634,879,786,805,652,631,652,0.400977956762,-0.00536081195523,0.0698351643379,0.999999942504,0.000211992701268,-0.000264238745062,1.51236118118e-05,1793244791125492480
+64,1.066666667,BASELINE,765.130142659,745,714,680,658,634,879,786,805,652,631,652,0.400977505577,-0.00536005122002,0.0698350472461,0.999999942341,0.000212160932302,-0.000264729011404,1.49533099862e-05,1793244791142159360
+65,1.083333333,BASELINE,765.718348311,745,714,680,658,634,879,786,805,652,631,652,0.400978288284,-0.00536208729032,0.0698348301127,0.999999943381,0.000207523199284,-0.000264466098467,1.51309079918e-05,1793244791158825984
+66,1.100000000,BASELINE,765.698071906,745,714,679.698071906,658,634,879,786,805,652,631,652,0.400978565298,-0.00536325647412,0.0698348284691,0.999999944152,0.00020435261735,-0.000264029616487,1.5011854278e-05,1793244791175492608
+67,1.116666667,BASELINE,765.118742254,745,714,679.118742254,658,634,879,786,805,652,631,652,0.400978377698,-0.00536362919113,0.0698350248107,0.999999944685,0.000202530005625,-0.00026343366502,1.46202467539e-05,1793244791192159232
+68,1.133333333,BASELINE,765,745,714,679.458427239,658,634,879,786,805,652,630.541572761,651.541572761,0.40097660573,-0.00536292631389,0.069834129667,0.999999943825,0.000203966288781,-0.0002655746622,1.47578126469e-05,1793244791208825856
+69,1.150000000,BASELINE,765,745,714,680,658,634,878.965222547,786,805,652,630.034777453,651.034777453,0.400974572122,-0.00536199207812,0.0698330064192,0.999999942649,0.00020619180841,-0.000268255582146,1.50134878605e-05,1793244791225492480
+70,1.166666667,BASELINE,765,745,714,680,658,634,878.39292827,786,805,652,630.60707173,651.60707173,0.400974807747,-0.00536176782971,0.0698327067772,0.99999994232,0.000207630209073,-0.000268375775187,1.49860906009e-05,1793244791242159104
+71,1.183333333,BASELINE,765,744.814144054,714,679.814144054,658,634,878.185855946,786,804.814144054,652,631,652,0.400975429896,-0.00536172488327,0.06983274294,0.9999999424,0.000208044124264,-0.000267755885789,1.49689523505e-05,1793244791258825728
+72,1.200000000,BASELINE,765,744.221142536,714,679.221142536,658,634,878.778857464,786,804.221142536,652,631,652,0.400976898788,-0.00536207910621,0.069833514734,0.999999943377,0.000206213749302,-0.000265514733859,1.49742880066e-05,1793244791275492352
+73,1.216666667,BASELINE,765,744.360124046,714,679.360124046,658,634,879,786,804.360124046,652,631,652,0.400976894358,-0.00536306898966,0.069833951679,0.999999943966,0.000204114036762,-0.000264920909242,1.49182662198e-05,1793244791292159232
+74,1.233333333,BASELINE,765,744.934411892,714,679.934411892,658,634,879,786,804.934411892,652,631,652,0.400976013751,-0.00536443689691,0.0698341894911,0.999999944324,0.000201854150748,-0.000265306741299,1.48257554974e-05,1793244791308826112
+75,1.250000000,BASELINE,765,745,714,680,658,634,879,786,805.513929943,652,631,652,0.400976443241,-0.0053637536798,0.0698340253015,0.99999994376,0.00020472568594,-0.000265220111553,1.50502849269e-05,1793244791325492480
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.904743608,786,805.904743608,652,630.904743608,652,0.400976934234,-0.0053627889749,0.0698339047734,0.999999943107,0.000207957513751,-0.0002651573055,1.52280251034e-05,1793244791342159360
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.317560659,786,805.317560659,652,630.317560659,652,0.400976870529,-0.00536173632061,0.0698342773923,0.999999942661,0.000209633273557,-0.00026553211451,1.49530365555e-05,1793244791358825728
+78,1.300000000,BASELINE,765.265742217,745,714,680,658,634,878.265742217,786.265742217,805,652,630.265742217,652,0.400976070797,-0.00536100622029,0.0698336801701,0.999999942278,0.000209854541977,-0.00026680715474,1.47740506607e-05,1793244791375492608
+79,1.316666667,BASELINE,765.84447511,745,714,680,658,634,878.84447511,786.84447511,805,652,630.84447511,652,0.400974404176,-0.00536065602349,0.0698319406707,0.999999941965,0.000208362713102,-0.000269142485552,1.47081365271e-05,1793244791392159232
+80,1.333333333,BASELINE,766,745,714,680,658,634,879,786.576938024,805,652,631,652,0.40097410508,-0.00536121916309,0.0698319713472,0.999999942134,0.00020730425045,-0.000269329256105,1.481546653e-05,1793244791408825856
+81,1.350000000,BASELINE,765.9984181,745,714,680,658,634,878.9984181,786,805.0015819,652,631,652,0.400974304789,-0.00536211437594,0.0698326493859,0.999999942477,0.000206408291622,-0.000268730720332,1.49857474022e-05,1793244791425492736
+82,1.366666667,BASELINE,765.424717216,745,714,680,658,634,878.424717216,786,805.575282784,652,631,652,0.400973149182,-0.00536171873608,0.0698321843913,0.999999942167,0.000206686284901,-0.000269676152394,1.48975434631e-05,1793244791442159360
+83,1.383333333,BASELINE,765,744.846775045,714,680,658,634,878,786,805.846775045,652,631,652,0.400972719795,-0.00536125484333,0.0698320687728,0.999999941972,0.00020729773537,-0.000269935357877,1.48062547429e-05,1793244791458825728
+84,1.400000000,BASELINE,765,744.256741831,714,680,658,634,878,786,805.256741831,652,631,652,0.400974360695,-0.00536059637758,0.0698329491427,0.999999942105,0.000208859793812,-0.00026823829323,1.47061720173e-05,1793244791475492352
+85,1.416666667,BASELINE,765,744.327081943,714,680,658,634,878.327081943,786,805,652,631,652,0.400975028177,-0.00536100873138,0.0698336540835,0.999999942576,0.000208109230574,-0.000267051591661,1.48678697294e-05,1793244791492158976
+86,1.433333333,BASELINE,765,744.906122412,714,680,658,634,878.906122412,786,805,652,631,652,0.400974945814,-0.00536224596142,0.0698342238873,0.999999943306,0.000205577203106,-0.000266258034274,1.52312227658e-05,1793244791508825600
+87,1.450000000,BASELINE,765,745,714,679.518105361,658,634,879,786,805,652,631,652,0.400975937684,-0.00536254273552,0.0698345268795,0.999999943679,0.000204783439801,-0.000265474604129,1.51210967174e-05,1793244791525492224
+88,1.466666667,BASELINE,765,745,714,679.056928442,658,634,879,786,805,652,631,651.943071558,0.400977017782,-0.0053625392505,0.0698346929264,0.999999943883,0.000204658572986,-0.000264810666551,1.49437205288e-05,1793244791542158848
+89,1.483333333,BASELINE,765,745,714,679.630999093,658,634,879,786,805,652,631,651.369000907,0.400977011116,-0.00536146126784,0.069834083939,0.999999943179,0.000207554592376,-0.000265214407261,1.49876929594e-05,1793244791558825728
+90,1.500000000,BASELINE,765,745,714.211846376,680,658,634.211846376,879.211846376,786,805,652,631,651.211846376,0.400977033386,-0.00536085591738,0.0698340399149,0.999999942941,0.000208969008054,-0.000264999439227,1.50198654509e-05,1793244791575492608
+91,1.516666667,BASELINE,765,745,714.804887415,680,658,634.804887415,879.804887415,786,805,652,631,651.804887415,0.400977107725,-0.00536110101763,0.0698350124814,0.999999943553,0.000207717437649,-0.000263671171629,1.50308052225e-05,1793244791592159232
+92,1.533333333,BASELINE,765,744.61292258,714.61292258,680,658,634.61292258,879.61292258,786,805.38707742,652,631,652,0.400976089657,-0.00536122917856,0.0698345774683,0.999999943364,0.000206978052371,-0.00026497314544,1.48757101692e-05,1793244791608826112
+93,1.550000000,BASELINE,765,744.036053009,714.036053009,680,658,634.036053009,879.036053009,786,805.963946991,652,631,652,0.40097453596,-0.00536130000171,0.0698334522896,0.999999942778,0.000206489802055,-0.000267564781472,1.46392047714e-05,1793244791625492992
+94,1.566666667,BASELINE,765,744.540124682,714,680,658,634,878.459875318,786,805.459875318,652,630.459875318,651.459875318,0.400975257069,-0.00536306707235,0.0698335522971,0.999999943319,0.000204591251638,-0.000266981088758,1.50359186718e-05,1793244791642159360
+95,1.583333333,BASELINE,765,745,714,680,658,634,878.118809572,786,805,652,630.118809572,651.118809572,0.400976032457,-0.00536428496966,0.0698337437176,0.999999943839,0.000203073216465,-0.000266175301033,1.52834894695e-05,1793244791658825984
+96,1.600000000,BASELINE,765,745,714,680,658,634,878.707594824,786,805,652,630.707594824,651.707594824,0.400976422679,-0.00536288319359,0.069833973656,0.999999943999,0.000203432287673,-0.000265328315143,1.47741122166e-05,1793244791675492608
+97,1.616666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976437189,-0.00536339510749,0.0698340901923,0.999999943961,0.000203621183116,-0.000265324313934,1.48191136392e-05,1793244791692158976
+98,1.633333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976081024,-0.00536579504577,0.0698340948474,0.999999943728,0.000203642185106,-0.000266151991667,1.54110586531e-05,1793244791708825856
+99,1.650000000,BASELINE,765,745,714,680,658.445780138,634,879,786,805.445780138,652,631,652,0.400975780178,-0.00536482216427,0.0698340583103,0.999999943399,0.000204959065052,-0.000266373700478,1.5461402929e-05,1793244791725492480
+100,1.666666667,BASELINE,765,745,714,680,658.977718864,634,879,786,805.977718864,652,631,652,0.40097550212,-0.00536296507727,0.0698340179198,0.999999943076,0.000206519117414,-0.000266387018415,1.53407128373e-05,1793244791742159360
+101,1.683333333,BASELINE,765,745,714,680,658.403463114,634,879,786,805.403463114,652,631,652,0.400975386482,-0.00536372225856,0.0698341815152,0.999999943658,0.000204682886749,-0.000265642947411,1.49201461012e-05,1793244791758826240
+102,1.700000000,BASELINE,765.175942725,745,714,680,658,634,879,786,805,652.175942725,631,652,0.400975390409,-0.00536387062248,0.0698341910981,0.999999943958,0.000203853500317,-0.000265168821195,1.45709368347e-05,1793244791775492864
+103,1.716666667,BASELINE,765.767514524,745,714,680,658,634,879,786,805,652.767514524,631,652,0.400975676785,-0.00536258077847,0.0698338368572,0.999999943601,0.000205402579841,-0.000265332385001,1.43902952055e-05,1793244791792159232
+104,1.733333333,BASELINE,765.650502405,745,714,680,658,634,879,786,805,652.650502405,631,652,0.40097549728,-0.00536200967162,0.0698338333858,0.999999943302,0.000206489978537,-0.00026560250884,1.45980855857e-05,1793244791808825856
+105,1.750000000,BASELINE,765.074727365,745,714,680,658,634,879,786,805,652.074727365,631,652,0.400975016147,-0.00536190390118,0.0698340570152,0.999999943042,0.00020727846844,-0.00026594162353,1.50573609465e-05,1793244791825492480
+106,1.766666667,BASELINE,765,745,714.50139126,680,658,634.50139126,879,786,805,652.50139126,631,652,0.400975242571,-0.0053622125775,0.0698343519575,0.999999943026,0.00020770272969,-0.000265661579468,1.51896443636e-05,1793244791842159360
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,657,634,879,786,805,652,631,652,0.400972793136,-0.00536204199281,0.0698326102474,0.999999942277,0.000206495448065,-0.000269418752072,1.48160504514e-05,1793244791885588224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.594778195,714,680,657.594778195,634,879.594778195,786,805,652,631,652,0.400975144496,-0.00536206241779,0.0698341676496,0.999999942802,0.000207297893984,-0.00026682403254,1.51215373195e-05,1793244791902254848
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.815966716,786,805,652,630.815966716,651.815966716,0.400976340452,-0.00536205735093,0.069834928831,0.999999943026,0.000208048545434,-0.000265389401478,1.52375648937e-05,1793244791918921728
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.23851847,786,805,652,630.23851847,651.23851847,0.400975066455,-0.00536199778919,0.0698339879009,0.999999942619,0.000208688474025,-0.000266434735254,1.49485781741e-05,1793244791935588864
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.338876132,651.338876132,0.400975303149,-0.00536283284815,0.0698343146436,0.999999943134,0.000206885974127,-0.000265909911112,1.48711820544e-05,1793244791952255744
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.916232948,651.916232948,0.400976602977,-0.00536429748746,0.0698355334982,0.999999944288,0.000203364639607,-0.000264280103999,1.49426907169e-05,1793244791968921856
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.498306321,658,634,879,786,805,652,630.498306321,651.498306321,0.400976247449,-0.00536310046612,0.0698350050978,0.999999943643,0.000205684866452,-0.000264929238445,1.48461442725e-05,1793244791985588224
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.912613585,714,679.087386415,658,634,879,786,805,652,630.087386415,651.087386415,0.400975871108,-0.00536177322387,0.0698344323899,0.999999942909,0.000208197941602,-0.000265737780485,1.4791505367e-05,1793244792002255104
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.333356191,714,679.666643809,658,634,879,786,805,652,630.666643809,651.666643809,0.400976958894,-0.00536225554425,0.0698352793434,0.99999994344,0.000206216382875,-0.000265266632867,1.51332846291e-05,1793244792018921728
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.245078689,714,680,658,634,879,786,805,652,631,651.754921311,0.400982373613,-0.00536253104095,0.0698377871977,0.99999994436,0.000206189825613,-0.000261780789333,1.53898334977e-05,1793244792035588352
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.822398481,714,680,658,634,879,786,805,652,631,651.177601519,0.400993654141,-0.00536252615696,0.0698425466531,0.999999945767,0.000208813567652,-0.000254208071133,1.55308396939e-05,1793244792052255232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.398799697,634,879,786,805.398799697,652,631,651.398799697,0.401024351759,-0.00536341175249,0.0698553125224,0.999999951354,0.00020786567187,-0.000232015268327,1.5906477011e-05,1793244792068921856
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.974792825,634,879,786,805.974792825,652,631,651.974792825,0.401063676718,-0.00536469300308,0.0698716357767,0.999999958115,0.000205330837259,-0.000203326514574,1.6386364893e-05,1793244792085588224
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,806,652,630.437726011,652,0.401120458439,-0.00536590434133,0.0698885196703,0.999999962922,0.000205518616637,-0.000177871363001,1.67397604853e-05,1793244792102254848
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.851666412,634,879,786,805.703332823,652,630.148333588,652,0.401180944228,-0.00536726590158,0.06990279946,0.99999996659,0.00020504147897,-0.00015650946448,1.68042994918e-05,1793244792118921216
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.271278685,634,879,786,804.54255737,652,630.728721315,652,0.401249891906,-0.00536907433621,0.0699094194949,0.999999968664,0.000202264692156,-0.000146639009384,1.6044342194e-05,1793244792135588096
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.304913822,680,658,634.304913822,879,786.304913822,804.304913822,652,631,652,0.40132910863,-0.00537065180653,0.0699131336014,0.999999969809,0.000200893726898,-0.000140742402273,1.46405763464e-05,1793244792152255232
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.877424507,680,658,634.877424507,879,786.877424507,804.877424507,652,631,652,0.401417337615,-0.00537202657907,0.069914297422,0.9999999702,0.000200756531537,-0.000138333303319,1.26717946734e-05,1793244792168922112
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.545929991,680,658,635,879,786.545929991,805,652,631,652,0.401516248452,-0.0053741727974,0.0699114336348,0.999999969645,0.000198573575543,-0.00014550922057,1.03136437666e-05,1793244792185588736
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.96861342,878.96861342,786,805,652,631,652,0.401619900014,-0.00537649773901,0.0699077390196,0.999999968829,0.000195832094278,-0.000154697886091,7.81751390738e-06,1793244792202255104
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.39910415,878.39910415,786,805,652,631,652,0.401754938528,-0.0053782836237,0.0699086120028,0.99999996955,0.000193070033637,-0.000153625443581,4.77440001776e-06,1793244792218921472
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.179608576,658,634,878.179608576,786,805,652,630.820391424,652,0.401901312008,-0.00538043581367,0.0699106844564,0.999999970645,0.000189999574621,-0.000150359059621,1.57631184558e-06,1793244792235587840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.779876543,658,634,878.779876543,786,805,652,630.220123457,652,0.402074232976,-0.00538344592322,0.0699155661772,0.999999972586,0.000186206819333,-0.000141954268188,-1.98473956607e-06,1793244792252254464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.363614569,745,714,680.636385431,658,634,879,786.363614569,805,652,630.363614569,651.636385431,0.402271054559,-0.00538750653574,0.0699198938626,0.999999974825,0.000180110797776,-0.000133694131588,-6.07004063128e-06,1793244792268921088
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.937780955,745,714,680.062219045,658,634,879,786.937780955,805,652,630.937780955,651.062219045,0.402481715861,-0.00539217544459,0.0699239007329,0.999999977159,0.000172681064446,-0.000125517756882,-1.04589099482e-05,1793244792285588224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.487679215,745,714,680,658,634.512320785,879,786.487679215,805,652,631,651.512320785,0.402718683402,-0.00539589861674,0.0699253699146,0.999999978867,0.000166357495074,-0.000119769486293,-1.56747938829e-05,1793244792302254848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.090134586,744.909865414,714,680,658,634.909865414,879,786.090134586,805,652,631,652,0.402964482893,-0.00539995772255,0.0699269045607,0.99999998051,0.000159590345084,-0.000114329125774,-2.09721009324e-05,1793244792318921728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.686066059,744.313933941,714,680,658,634.313933941,879,786.686066059,805,652,631,652,0.403241902839,-0.00540654693634,0.0699305372622,0.999999982535,0.000149579606308,-0.000108960662473,-2.61623000768e-05,1793244792335588352
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.727784321,744,714,680,658,634,879,786.727784321,805.272215679,652,630.727784321,652,0.403543252098,-0.00541245684204,0.069936547404,0.999999984586,0.000141594486626,-9.91177182893e-05,-3.09121090431e-05,1793244792352254720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.15252439,744,714,680,658,634,879,786.15252439,805.84747561,652,630.15252439,652,0.403871240663,-0.00541761050725,0.0699452042321,0.999999986599,0.000135864389083,-8.42935561723e-05,-3.5171653093e-05,1793244792368921344
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.422976026,744.422976026,714,680,658,634,879,786,805.577023974,652,630.422976026,652,0.404227626184,-0.00542439186267,0.0699489730625,0.999999991364,9.8742549386e-05,-8.01754337906e-05,-3.30865287343e-05,1793244792385588224
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.998563196,744.998563196,714,680,658,634,879,786,805.001436804,652,630.998563196,652,0.404594257413,-0.00543176049397,0.069950978287,0.999999995129,5.02944655367e-05,-7.99200860089e-05,-2.8712226935e-05,1793244792402254848
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.410507814,745,714,680,658,634,879.589492186,786.589492186,805,652,631,652,0.404994287206,-0.0054428199808,0.0699568322632,0.999999995043,6.56385475217e-05,-6.97884859216e-05,-2.71315014205e-05,1793244792418921216
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.823571221,786.823571221,805.176428779,652,631,652,0.40540679811,-0.005457335885,0.0699620155912,0.999999995578,6.72264143566e-05,-6.02404707054e-05,-2.63710614648e-05,1793244792435587840
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.24580391,786.24580391,805.75419609,652,631,652,0.405847510749,-0.00547969340283,0.0699656514246,0.999999997577,3.71586244172e-05,-5.20762121609e-05,-2.74606968176e-05,1793244792452254720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.329466737,805.670533263,652,631,651.670533263,0.406298845354,-0.00549048910498,0.0699581570223,0.999999997303,1.83822161475e-05,-6.50737210097e-05,-2.86687182373e-05,1793244792468921088
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.902888777,805.097111223,652,631,651.097111223,0.406758045093,-0.00549272380487,0.0699424211815,0.999999995126,7.96656510734e-06,-9.37405661292e-05,-2.9964399323e-05,1793244792485587968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.489673065,634,879.489673065,786.510326935,805,652,631,651.489673065,0.407275065057,-0.00549512012799,0.0699315498845,0.999999993883,1.2481183984e-05,-0.000105236664421,-3.16879358588e-05,1793244792502254336
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.077497019,745,714,680,658.922502981,634,879.922502981,786,805,652,631,651.922502981,0.40781366465,-0.00549886083847,0.0699249060414,0.999999993445,1.54342443333e-05,-0.00010841178775,-3.34503534629e-05,1793244792518921216
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.654463604,745,714,680,658.345536396,634,879.345536396,786,805,652,631,651.345536396,0.408415368422,-0.00551105377211,0.0699391160818,0.999999996085,-1.12956822992e-05,-8.05208522368e-05,-3.49011490186e-05,1793244792535587584
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.767949549,745,714,680,658.232050451,634,879,786,805.232050451,652,630.767949549,651.232050451,0.409024950214,-0.00551965222132,0.0699501149288,0.999999997422,-2.69259135008e-05,-5.56934837524e-05,-3.64547732165e-05,1793244792552254464
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.189436657,745,714,680,658.810563343,634,879,786,805.810563343,652,630.189436657,651.810563343,0.40964629423,-0.00552288393232,0.0699563193094,0.999999998306,-2.59837660384e-05,-3.54401694148e-05,-3.81619254688e-05,1793244792568921344
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.606833638,634,879.393166362,786,805.606833638,652,630,652,0.41027552828,-0.00552866927463,0.0699530032902,0.999999997917,-3.13894052107e-05,-4.08279492896e-05,-3.89176864272e-05,1793244792585588480
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.0222392,634,879.9777608,786,805.0222392,652,630,652,0.410908603877,-0.00553569794989,0.0699450519,0.999999996713,-3.98857070232e-05,-5.87000768057e-05,-3.92102261019e-05,1793244792602256128
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.557537291,634,879.442462709,786,805,652,630.557537291,652,0.41160794175,-0.00554173014287,0.0699521480194,0.999999996875,-4.71131552323e-05,-4.94271733413e-05,-3.9831365506e-05,1793244792618922752
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.137411147,652,631,652,0.412327236112,-0.00554434569292,0.0699663008352,0.999999997505,-5.10644351935e-05,-2.81757661237e-05,-3.98507046056e-05,1793244792635589120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.718213859,652,631,652,0.413102469432,-0.00553606374343,0.0700013036874,0.999999997888,-4.46062485793e-05,2.82633979777e-05,-3.788625217e-05,1793244792652255232
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.296016973,786,806,652,631,652,0.413862935002,-0.00551877106964,0.0700192021817,0.999999997396,-2.42423051322e-05,5.61705766487e-05,-3.82779914463e-05,1793244792668921344
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.870993403,786,806,652,631,652,0.41460948388,-0.00549298689949,0.0700209819343,0.999999997486,9.22609834819e-06,5.71898875353e-05,-4.08901503966e-05,1793244792685587968
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.556507961,785.556507961,806,652,630.556507961,652,0.415332500662,-0.00549275810463,0.0699775070076,0.999999998788,5.75018655698e-06,-2.0930499263e-05,-4.41992252729e-05,1793244792702254592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.015904265,680,659,634,879,785.015904265,806,652,630.015904265,652,0.416052239834,-0.00550003030247,0.0699223248274,0.999999991705,-8.59377327921e-06,-0.000119353419225,-4.76549516592e-05,1793244792718921216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.611284647,680,659,634,879,785.611284647,806,652,630.611284647,652,0.416900581376,-0.00551125711051,0.069917556506,0.999999990745,-2.95358683207e-05,-0.000123395848688,-4.91087000812e-05,1793244792735588096
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.799806022,680,659,634,879,786,805.799806022,652,631,651.799806022,0.417756617157,-0.00551860200795,0.0699262628933,0.999999992246,-4.13795395414e-05,-0.000106589572825,-4.93482905612e-05,1793244792752254976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.223068097,680,659,634,879,786,805.223068097,652,631,651.223068097,0.418627124947,-0.0055186454366,0.0699603137994,0.999999996951,-3.61100252023e-05,-5.05690609409e-05,-4.73041766974e-05,1793244792768921600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.351963414,659.351963414,634,879.351963414,786,805.351963414,652,630.648036586,651.351963414,0.419505181146,-0.00552130272305,0.0699880292613,0.999999998091,-3.95222492403e-05,-9.62209953598e-06,-4.65222856965e-05,1793244792785588224
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.925918626,659.925918626,634,879.925918626,786,805.925918626,652,630.074081374,651.925918626,0.420387998275,-0.00552560863254,0.0700117488049,0.999999997507,-4.84102548889e-05,2.18176085529e-05,-4.65365091435e-05,1793244792802254848
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.485067258,786,806,652,630.514932742,652,0.421300075038,-0.00552327505894,0.070027040595,0.999999996684,-5.14630491685e-05,4.23214810778e-05,-4.68312036097e-05,1793244792818921216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.896057079,714,680.896057079,659.896057079,634,879.103942921,786,806,652,631,652,0.422200246292,-0.00551977479213,0.0700289035932,0.999999996624,-5.16222815769e-05,4.25640629696e-05,-4.770054974e-05,1793244792835588096
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.317260536,714,680.317260536,659.317260536,634,879.682739464,786,806,652,631,652,0.423026218143,-0.00551543978295,0.0699751243071,0.999999996899,-4.25132067936e-05,-4.2351211267e-05,-5.10052488966e-05,1793244792852254720
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.260267949,714,680.260267949,659,634,879.739732051,786,806,652,630.739732051,652,0.423861622894,-0.00551435058116,0.0699168125307,0.999999989147,-4.34009253271e-05,-0.000129260882367,-5.58070659135e-05,1793244792868921344
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.83625827,714,680.83625827,659,634,879.16374173,786,806,652,630.16374173,652,0.424708470491,-0.00551719875953,0.0698530025342,0.999999972569,-5.64154193982e-05,-0.000218589900867,-6.24249871685e-05,1793244792885588224
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.419599761,634,879.419599761,785.580400239,806,652,630,652,0.425626698533,-0.00552061159422,0.0698724283942,0.999999979889,-5.51999307986e-05,-0.000182943206261,-6.08817281862e-05,1793244792902255104
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,785.005786766,806,652,630.005786766,652,0.426573671229,-0.00552423466831,0.0699249304638,0.999999992459,-4.85488195039e-05,-9.78482705452e-05,-5.61286351976e-05,1793244792918921984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,785.584618528,806,652,630.584618528,652,0.427559560459,-0.00552646768381,0.0699789792403,0.999999996007,-6.33279531481e-05,-3.16747668182e-05,-5.45165965717e-05,1793244792935588608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.836678933,634,880,786,806,652,631,652,0.428536617,-0.00552846929046,0.0700252611418,0.999999995527,-7.21631696569e-05,3.03459384668e-05,-5.30753649053e-05,1793244792952254976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.258304825,634,880,786,806,652,631,652,0.429491226689,-0.00552988281026,0.0700518048326,0.999999993127,-6.58929194801e-05,8.18130002465e-05,-5.20682109672e-05,1793244792968921600
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.318355859,634,879.681644141,786,806,652,631,652,0.430383956006,-0.0055306850569,0.0700389523364,0.999999994668,-6.33038720882e-05,6.18839669815e-05,-5.31653468385e-05,1793244792985588224
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.893633735,634,879.106366265,786,806,652,631,652,0.431226746098,-0.00553099398905,0.0699943060222,0.999999996284,-6.36856576503e-05,-1.56636997893e-05,-5.59607028892e-05,1793244793002255104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.957546594,786,806,651.521226703,631,652,0.432017649671,-0.00552970835815,0.0699273527128,0.999999987935,-6.66839092755e-05,-0.000126974086676,-5.96787375609e-05,1793244793018921728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.934780718,786.065219282,806,651.065219282,631,652,0.432819584538,-0.00552861865983,0.0698694534426,0.999999971166,-7.00166682002e-05,-0.000220896147994,-6.30080322097e-05,1793244793035588608
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.355667461,786.644332539,806,651.644332539,631,652,0.433801179359,-0.00553192285697,0.0699227658123,0.99999998866,-7.13086242842e-05,-0.000117461287422,-6.1625107796e-05,1793244793052255488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.222847032,786.777152968,806,651.777152968,631,652,0.434751111663,-0.00553534640613,0.0699734235566,0.999999995199,-7.32098442421e-05,-2.67780518707e-05,-5.9376017555e-05,1793244793068921856
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.800408539,786.199591461,806,651.199591461,631,652,0.435650645635,-0.00553895993314,0.0700198558367,0.999999994601,-7.60808546496e-05,4.36079302983e-05,-5.57482171733e-05,1793244793085588224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.377659171,660,634,880.622340829,786,806,651.377659171,631,652,0.436515162378,-0.00554347247237,0.0700347150249,0.999999992905,-8.06834917421e-05,6.8106444297e-05,-5.51433360361e-05,1793244793102254592
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.954745607,660,634,880.045254393,786,806,651.954745607,631,652,0.437361187816,-0.00554845974512,0.0700329016764,0.999999992372,-8.6200534165e-05,6.83735493623e-05,-5.6134742453e-05,1793244793118921216
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.438121063506,-0.00554733616227,0.0699966093904,0.999999994292,-8.58885463139e-05,2.53267084002e-05,-5.82940912494e-05,1793244793135587840
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.874198771,634,880,786,806,652,631,651.874198771,0.438858635659,-0.005545286179,0.0699475734877,0.999999993719,-8.38829778205e-05,-4.28920255149e-05,-6.07065946128e-05,1793244793152254720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.293692821,634,880,786,806,652,631,651.293692821,0.439542088596,-0.00554176720858,0.0698630805372,0.999999977148,-7.75487935728e-05,-0.000188772133281,-6.36749038389e-05,1793244793168921856
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.71592807,880,786,806.28407193,651.71592807,631,651.28407193,0.440247742555,-0.00553961499788,0.0698124221861,0.999999958135,-7.64316585199e-05,-0.00027118157767,-6.59485742181e-05,1793244793185588992
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.140970304,880,786,806.859029696,651.140970304,631,651.859029696,0.440976130021,-0.00553886233098,0.0697964100148,0.999999952824,-8.06567132836e-05,-0.000288597911202,-6.75109446224e-05,1793244793202255616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.566199097,651,631,651.566199097,0.441726158715,-0.0055419919532,0.0698287082549,0.999999965789,-8.19340420215e-05,-0.000239443437405,-6.61561922881e-05,1793244793218922240
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.008773709,651.008773709,631,651.008773709,0.442481422336,-0.00554633508351,0.0698758660925,0.999999980104,-8.23170341028e-05,-0.000170106167064,-6.38783069636e-05,1793244793235588352
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.601185188,651.601185188,631,651.601185188,0.443117296173,-0.00554751448091,0.0698676202792,0.999999974893,-8.69015724476e-05,-0.000196634133401,-6.32251402489e-05,1793244793252254976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.811480814,807,652,630.811480814,652,0.443740209948,-0.00554814472639,0.0698462823356,0.99999996515,-8.76458925349e-05,-0.000240938814497,-6.2985224179e-05,1793244793268921600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.234606472,807,652,630.234606472,652,0.444336425727,-0.0055476437027,0.0697979742109,0.999999942941,-8.04792487799e-05,-0.000321864063555,-6.35966164738e-05,1793244793285588480
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.341790002,658.658209998,632.658209998,880.341790002,785,807,652,630,652,0.444911036733,-0.00554919632775,0.0697589632451,0.99999992233,-7.91366041043e-05,-0.000380669633227,-6.45535332992e-05,1793244793302255360
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.917858887,658.082141113,632.082141113,880.917858887,785,807,652,630,652,0.44547083878,-0.0055521566199,0.0697263249907,0.999999904473,-8.17860018699e-05,-0.000424313333797,-6.57472888973e-05,1793244793318921984
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880.494510879,785,807,652,630.505489121,652,0.44600226989,-0.00555527397977,0.0697139789774,0.999999898513,-8.55553548487e-05,-0.000437177780848,-6.73021516237e-05,1793244793335588864
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,807,652,630.906727616,652,0.446522545692,-0.00555777645686,0.069705065274,0.999999893417,-8.98556430919e-05,-0.000447663386439,-6.84741241675e-05,1793244793352255488
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,807,652,630.328151945,652,0.447009328417,-0.00555694374447,0.0696964516437,0.999999881546,-9.59493514157e-05,-0.00047240440974,-6.73414307631e-05,1793244793368922112
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.750628872,631.750628872,880.249371128,784.750628872,806.750628872,651.750628872,630,652,0.447481186577,-0.00555655857148,0.069682435966,0.999999867864,-9.63617901324e-05,-0.000500571694663,-6.64440880847e-05,1793244793385588480
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,657.174485156,631.174485156,880.825514844,784.174485156,806.174485156,651.174485156,630,652,0.447933487747,-0.00555675984821,0.0696613415181,0.999999851675,-8.93295686773e-05,-0.000533228704953,-6.58551459292e-05,1793244793402255104
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.590998425,784,806.409001575,651,630,652,0.44836184098,-0.00555634286348,0.0696571693954,0.999999847455,-9.12008477307e-05,-0.000540806505568,-6.55791335229e-05,1793244793418921728
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.004321754,784,806.995678246,651,630,652,0.448779790986,-0.00555565729871,0.0696603485282,0.999999848713,-9.69399115922e-05,-0.000537489605355,-6.54390614495e-05,1793244793435588352
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.154293663,714,683,657.691412674,631,880,784,807,651.154293663,630,652,0.449567382443,-0.00555326023108,0.0696835002496,0.999999869472,-8.80428134035e-05,-0.000499140886453,-6.45239635811e-05,1793244793468921856
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.732774181,714,683,656.534451638,631,880,784,807,651.732774181,630,652,0.44990755305,-0.00555558367404,0.0696815791872,0.999999868326,-8.84507601342e-05,-0.000501354528993,-6.45544325865e-05,1793244793485588992
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.691447361,714,683,656,630.691447361,880.308552639,784,807,652,630,652,0.450207598364,-0.0055599139556,0.0696654685996,0.999999854819,-9.28391619115e-05,-0.000526709316204,-6.57332743455e-05,1793244793502255616
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.117988776,714,683,656,630.117988776,880.882011224,784,807,652,630,652,0.450473194338,-0.0055659671958,0.0696371756834,0.999999829077,-0.000100644958416,-0.000571931788136,-6.78980442753e-05,1793244793518921984
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713.531564165,683.468435835,656,630,881,783.531564165,807,651.531564165,630,652,0.450707464543,-0.0055693532637,0.0696101643687,0.9999998057,-0.000104354299111,-0.000610732079974,-6.86697797174e-05,1793244793535588608
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.05701124,713.05701124,683.94298876,656,630.05701124,880.94298876,783,807.05701124,651.05701124,630,652,0.450932630624,-0.00557183501164,0.0695852714226,0.999999783605,-0.000107817581667,-0.000645358190964,-6.83965475936e-05,1793244793552254976
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.634556861,713.634556861,683.365443139,656,630.634556861,880.365443139,783,807.634556861,651.634556861,630,652,0.451148764668,-0.00557236840058,0.0695766887294,0.999999775173,-0.000118723246018,-0.000657062261357,-6.1877184894e-05,1793244793568921600
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.787691683,714,683,655.787691683,630.787691683,880,783,807.787691683,652,630,652,0.45135856343,-0.00557332575792,0.0695727315015,0.999999771796,-0.000124037035149,-0.000661543655811,-5.81698395467e-05,1793244793585588480
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880,783,806.060173367,651.060173367,630,651.060173367,0.451886867012,-0.00558303331638,0.0695691653503,0.999999771974,-0.00012621545846,-0.000660494321191,-6.22029432478e-05,1793244793635587840
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880.529388838,783,806.529388838,651.529388838,629.470611162,651.529388838,0.452014815995,-0.00558313233917,0.0695637454576,0.999999768658,-0.000124984999404,-0.000665567556275,-6.38972830091e-05,1793244793652254720
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,629.881856712,880.881856712,783,807,652,629.118143288,651.881856712,0.452133490079,-0.00558304090221,0.06955846527,0.999999764884,-0.000124409609478,-0.000671173735604,-6.54161695679e-05,1793244793668921088
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,683,655,629.30337254,880.30337254,783,807,652,629.69662746,651.30337254,0.452229348072,-0.00558422666562,0.0695536853693,0.999999758759,-0.00012919602682,-0.000679272677479,-6.61702029834e-05,1793244793685587712
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,683.082339119,654.082339119,629,880.082339119,783,807,652,630,652,0.452672024988,-0.00558192194903,0.0695400248642,0.999999741365,-0.000128432710299,-0.000704635514897,-6.52947151029e-05,1793244793868921088
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,683.661844544,654.661844544,629,880.661844544,783,807,652,630,652,0.452678327958,-0.00558492302545,0.0695403006035,0.999999741169,-0.000131298998552,-0.000704481682324,-6.42430797977e-05,1793244793885587712
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.760625435,745.760625435,714,683.760625435,654.760625435,629,880.760625435,783,806.760625435,651.760625435,630,652,0.452682794356,-0.00558550226339,0.0695402207429,0.999999740885,-0.000131787315088,-0.000704839277906,-6.37519882573e-05,1793244793902254336
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.185863186,745.185863186,714,683.185863186,654.185863186,629,880.185863186,783,806.185863186,651.185863186,630,652,0.452684687535,-0.00558268826346,0.0695396426513,0.999999740479,-0.00012894385548,-0.000705913435442,-6.40462746021e-05,1793244793918921216
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.984993806,745.984993806,714,683,654.984993806,629,880.984993806,783,806.984993806,651.984993806,630,652,0.452686016373,-0.00558232159897,0.0695379486804,0.999999739175,-0.000128153214191,-0.000707931144071,-6.37266936632e-05,1793244793952254464
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.295458675,745,714,683.295458675,654,629,880,782.295458675,807,652,630,652,0.452687580481,-0.0055812817144,0.0695358442317,0.999999737578,-0.000126159570011,-0.000710575147951,-6.33327574813e-05,1793244794018921216
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.870461747,745,714,683.870461747,654,629,880,782.870461747,807,652,630,652,0.452688077629,-0.00558235350288,0.0695358064522,0.999999737376,-0.000128105491045,-0.000710520692148,-6.32182421261e-05,1793244794035587840
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.04763553,714,683,654,629,880.04763553,782,807,652,629.95236447,652,0.452687340132,-0.00558086518012,0.0695350960618,0.999999736657,-0.00012919158154,-0.000711397960385,-6.25137144548e-05,1793244794068921344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.627230775,714,683,654,629,880.627230775,782,807,652,629.372769225,652,0.452687823216,-0.00558108606434,0.0695345165518,0.999999736562,-0.000127380539267,-0.000711846616284,-6.26434531312e-05,1793244794085587968
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683.780795136,654,629,880.219204864,782,807,651.219204864,629,652,0.452689735054,-0.00558212754491,0.06953502895,0.999999736406,-0.000129625021317,-0.000711724463427,-6.19132949637e-05,1793244794118921216
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683.645053115,654.354946885,629,880,782,807,651.354946885,629.354946885,652,0.452690134589,-0.00558251901315,0.0695350931742,0.999999736431,-0.000129442437086,-0.000711748055892,-6.16159075283e-05,1793244794135588352
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683.518292948,654.481707052,629,880,782.518292948,807,652,630,652,0.452691177813,-0.00558174298825,0.0695357756542,0.999999737561,-0.00012719620412,-0.000710560153329,-6.16769995291e-05,1793244794168922112
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.412782016,714,680.587217984,658.587217984,634,879.587217984,786,805.587217984,652,630.412782016,652.174435968,0.411302296999,-0.00537171050481,0.0698652030258,0.999999959131,0.00020082516576,-0.000201214785801,3.03199421477e-05,1793244795865280000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.837216626,658.837216626,634,880,786,805.837216626,652,630.162783374,652.837216626,0.410628938945,-0.00536978666685,0.0698767548917,0.999999960261,0.00020833262311,-0.000187197116449,3.21390954769e-05,1793244795881946624
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,714,680.262195085,658.262195085,634,880,786,805.262195085,652,630.737804915,652.262195085,0.409944166997,-0.00536410280491,0.0698448215532,0.999999947175,0.000210465090885,-0.000245926089779,2.95868135159e-05,1793244795898613504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.321132707,714,680.321132707,658,634,879.678867293,786,805,652,631,652,0.409287929127,-0.00535802200394,0.0698093564,0.99999992851,0.000217291525154,-0.000308290450597,2.68516243444e-05,1793244795915279872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.911422339,714,680.911422339,658,634,879.088577661,786,805,652,631,652,0.408655607094,-0.00535160850941,0.0697709310633,0.999999903882,0.00022805220038,-0.000373701802305,2.39631318746e-05,1793244795931946752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.508173567,714,680.508173567,658,634,879,786,805,652,631,652,0.408085541105,-0.00535885062552,0.0697688273037,0.999999908153,0.000215932257956,-0.000369534288186,2.26043239157e-05,1793244795948613376
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.929972977,744.070027023,714,680,658,634,879.070027023,786,805,652,631,652,0.407531177134,-0.00536972572261,0.0697752704757,0.999999918078,0.000198918566764,-0.000351843437917,2.19367584888e-05,1793244795965280000
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.812707915,745,714,680,657.187292085,634,879.187292085,786,805,652,631,652,0.406022704521,-0.00538931692971,0.0698041414626,0.999999930785,0.000175015674022,-0.000327403693179,2.46298845971e-05,1793244796015280128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.394661252,634,879,786,805,652,630.605338748,652,0.405576720355,-0.0053826173823,0.0698025059998,0.999999927221,0.000186262461262,-0.000332066872016,2.44250117775e-05,1793244796031946752
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.712778436,785.712778436,805.287221564,652,631,651.287221564,0.403735285691,-0.0053692548595,0.0698457873336,0.999999948426,0.000201811017213,-0.000248735795137,2.34742980239e-05,1793244796115280128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.125379062,785.125379062,805.874620938,652,631,651.874620938,0.403417433048,-0.00537118540277,0.0698330913544,0.999999942319,0.00020613370543,-0.000269026081636,2.2246377813e-05,1793244796131946752
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.034525863,634,879,786,805.965474137,652,630.965474137,651.965474137,0.402843736672,-0.0053644509049,0.0698152493948,0.999999932562,0.000206752843888,-0.000302831352623,2.05479747797e-05,1793244796165280256
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.610548458,634,879,786,805.389451542,652,630.389451542,651.389451542,0.402597794113,-0.00536306816338,0.0698080770482,0.999999928526,0.000206552026884,-0.000315999949345,2.06995809389e-05,1793244796181946880
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.237492879,680,658.237492879,634,879.762507121,786,805,652,630.762507121,651,0.402159534951,-0.00535893570138,0.0697980744049,0.999999922956,0.00020771087338,-0.00033240527478,2.12303158905e-05,1793244796215280128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.653371825,713.346628175,679.653371825,657.653371825,634,879.653371825,786,805,652,631,651,0.401981550238,-0.00535705228629,0.0697983587594,0.999999923235,0.000207204754463,-0.000331854837315,2.1657510977e-05,1793244796231946752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.06352233,713.93647767,679.06352233,657.06352233,634,879.06352233,786,805,652,631,651,0.40182282772,-0.00535554207194,0.0698015739853,0.999999925161,0.000205657341687,-0.000326942047824,2.21574914686e-05,1793244796248613376
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.667122581,658,634,879,786,805,652,630.667122581,651.667122581,0.401449803344,-0.00535598411023,0.0697992017739,0.999999922244,0.000221419988067,-0.000326058226116,1.31025967862e-05,1793244796298613504
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.581155682,680,658,634,878.418844318,786,805,652,631,652,0.401201964302,-0.00535370565735,0.0697983335532,0.999999922484,0.000221273884198,-0.000325454316071,1.22351682904e-05,1793244796348613376
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.002548602,680,658,634,878.997451398,786,805,652,631,652,0.401140021067,-0.00535306623997,0.0697991781164,0.999999921963,0.00022269721199,-0.000326046820478,1.31673097449e-05,1793244796365280000
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.728970324,634,878.728970324,785.271029676,805,652,630.271029676,652,0.401039780688,-0.00535193833058,0.0698111819684,0.99999992893,0.000220732058255,-0.000305295822837,1.45801664208e-05,1793244796415280128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.688847039,634,878.688847039,785.311152961,805,652,630.311152961,652,0.401018931463,-0.00535240607745,0.069814000586,0.999999930388,0.000220250407746,-0.000300820306067,1.48806070635e-05,1793244796431946752
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.519914979,745,714,680,657.960170043,634,878.480085021,786,805,652.480085021,631,652,0.40099215083,-0.00535398507553,0.0698179123979,0.999999932428,0.000219624047968,-0.000294421527125,1.50341413978e-05,1793244796465280000
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.634900688,745,714,680,658.365099312,634,879,786,805,652.365099312,631,652,0.400978375851,-0.00535369726225,0.0698196548687,0.99999993364,0.000219586642868,-0.000290314270238,1.48402945735e-05,1793244796498613248
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..399cb6a8f2fb4f866fcf4185e9cfede057d20eab
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.583728499763,-0.000122201890972,1.06005089645,0.554300134933,0.00855349075962,1.05971739326
+345,5.750000000,pose2_to_pose3_retreat,0.583172860514,-0.000122260675239,1.0600509312,0.553744496041,0.00855343315134,1.0597174272
+346,5.766666667,pose2_to_pose3_retreat,0.582633777135,-0.000122238530443,1.06005103668,0.553205412171,0.0085534536346,1.05971753281
+347,5.783333333,pose2_to_pose3_retreat,0.58211470022,-0.000122219935402,1.06005106462,0.552686335028,0.00855347137531,1.05971755822
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+349,5.816666667,pose2_to_pose3_retreat,0.581157135644,-0.000122129146036,1.06005098271,0.551728768104,0.00855355446653,1.05971748284
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+355,5.916666667,pose2_to_pose3_retreat,0.578846254208,-0.000122198793914,1.06005087941,0.549417887768,0.00855348815754,1.05971736955
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+358,5.966666667,pose2_to_pose3_retreat,0.57797321728,-0.000122023737561,1.06005100127,0.548544849416,0.00855365861097,1.05971749735
+359,5.983333333,pose2_to_pose3_retreat,0.577710976831,-0.000122166956263,1.06005098874,0.548282612122,0.00855352602534,1.059717483
+360,6.000000000,pose2_to_pose3_retreat,0.577465610685,-0.000122157311327,1.06005091507,0.548037244533,0.00855353080906,1.05971741025
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+362,6.033333333,pose2_to_pose3_retreat,0.577027249735,-0.000122178530031,1.06005104732,0.547598882586,0.00855350611779,1.05971754001
+363,6.050000000,pose2_to_pose3_retreat,0.576836580676,-0.000122208114374,1.06005108941,0.547408214991,0.00855348142447,1.05971758022
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+365,6.083333333,pose2_to_pose3_retreat,0.576515300211,-0.000122017833038,1.06005079424,0.547086931223,0.00855366039414,1.05971728221
+366,6.100000000,pose2_to_pose3_retreat,0.576381390639,-0.000122406456054,1.06005091594,0.546953027142,0.00855329018907,1.05971739849
+367,6.116666667,pose2_to_pose3_retreat,0.576263715284,-0.000122262967804,1.06005089906,0.546835349791,0.00855342707967,1.0597173863
+368,6.133333333,pose2_to_pose3_retreat,0.576159453061,-0.000122131082084,1.06005077447,0.546731085816,0.00855355331779,1.05971726939
+369,6.150000000,pose2_to_pose3_retreat,0.576068025602,-0.000122197173568,1.06005064247,0.546639659442,0.00855349106146,1.05971714287
+370,6.166666667,pose2_to_pose3_retreat,0.575988032892,-0.000122286859348,1.06005058958,0.546559667243,0.00855340323512,1.05971709311
+371,6.183333333,pose2_to_pose3_retreat,0.575919285138,-0.000122191387169,1.06005072849,0.546490917795,0.00855349279527,1.05971722696
+372,6.200000000,pose2_to_pose3_retreat,0.575862136672,-0.000122089589905,1.06005091133,0.546433768264,0.00855359090097,1.05971740765
+373,6.216666667,pose2_to_pose3_retreat,0.575815365001,-0.000122221890604,1.06005088708,0.54638699851,0.00855346539011,1.05971739075
+374,6.233333333,pose2_to_pose3_retreat,0.5757782011,-0.000122346846612,1.06005076896,0.546349836878,0.00855334773049,1.05971726224
+375,6.250000000,pose2_to_pose3_retreat,0.575748742297,-0.000122249180775,1.06005103265,0.546320376487,0.0085534395154,1.05971751307
+376,6.266666667,pose2_to_pose3_retreat,0.575726757751,-0.000122104056298,1.06005091687,0.546298390529,0.00855358019936,1.05971740639
+377,6.283333333,pose2_to_pose3_retreat,0.575709669621,-0.000122078099343,1.06005080313,0.546281301218,0.00855360229087,1.05971729633
+378,6.300000000,pose2_to_pose3_retreat,0.575697020298,-0.000122105445949,1.06005083867,0.546268651947,0.00855357507722,1.05971733091
+379,6.316666667,pose2_to_pose3_retreat,0.575687574114,-0.000122133067845,1.06005099889,0.546259207063,0.00855355176638,1.0597174886
+380,6.333333333,pose2_to_pose3_retreat,0.575680945426,-0.000122113152658,1.06005089207,0.546252579443,0.00855357540232,1.05971738448
+381,6.350000000,pose2_to_pose3_retreat,0.575676719276,-0.000122131417939,1.06005080923,0.546248353197,0.00855355681813,1.05971730166
+382,6.366666667,pose2_to_pose3_retreat,0.575673962833,-0.000122159527672,1.06005077923,0.546245596647,0.00855352833631,1.05971727122
+383,6.383333333,pose2_to_pose3_retreat,0.575672503754,-0.000122199800298,1.06005089284,0.546244138492,0.00855349120699,1.0597173851
+384,6.400000000,pose2_to_pose3_retreat,0.575671769924,-0.000122220055046,1.06005094998,0.546243405126,0.00855347253314,1.05971744238
+385,6.416666667,pose2_to_pose3_retreat,0.575671605099,-0.000122224604467,1.06005096281,0.546243240405,0.0085534683388,1.05971745525
+386,6.433333333,pose2_to_pose3_retreat,0.575671390876,-0.0001222305173,1.06005097949,0.546243026319,0.00855346288747,1.05971747197
+387,6.450000000,pose2_to_pose3_retreat,0.575671188453,-0.000122224678736,1.06005099065,0.546242823842,0.00855346853331,1.05971748283
+388,6.466666667,pose2_to_pose3_retreat,0.575671162092,-0.000122221811066,1.06005099125,0.54624279744,0.00855347125991,1.05971748334
+389,6.483333333,pose2_to_pose3_retreat,0.575671089073,-0.000122213867732,1.06005099293,0.546242724309,0.00855347881248,1.05971748474
+390,6.500000000,pose2_to_pose3_retreat,0.575670974426,-0.000122201396084,1.06005099556,0.546242609486,0.0085534906706,1.05971748694
+391,6.516666667,pose2_to_pose3_retreat,0.575670768891,-0.000122179037238,1.06005100027,0.546242403636,0.00855351192953,1.05971749088
+392,6.533333333,pose2_to_pose3_retreat,0.575670570421,-0.000122157446957,1.06005100482,0.546242204861,0.0085535324577,1.05971749469
+393,6.550000000,pose2_to_pose3_retreat,0.575670480966,-0.000122147715732,1.06005100687,0.546242115269,0.0085535417102,1.05971749641
+394,6.566666667,pose2_to_pose3_retreat,0.57567045535,-0.000122144929064,1.06005100746,0.546242089613,0.00855354435979,1.0597174969
+395,6.583333333,pose2_to_pose3_retreat,0.575670422842,-0.000122141392731,1.06005100821,0.546242057055,0.00855354772215,1.05971749752
+396,6.600000000,pose2_to_pose3_retreat,0.575670390691,-0.000122137895306,1.06005100894,0.546242024855,0.00855355104753,1.05971749814
+397,6.616666667,pose2_to_pose3_retreat,0.575670299905,-0.000122128019242,1.06005101103,0.54624193393,0.00855356043775,1.05971749988
+398,6.633333333,pose2_to_pose3_retreat,0.575670218496,-0.0001221191633,1.06005101289,0.546241852396,0.00855356885803,1.05971750144
+399,6.650000000,pose2_to_pose3_retreat,0.575670103116,-0.000122106611834,1.06005101554,0.546241736839,0.00855358079204,1.05971750365
+400,6.666666667,pose2_to_pose3_retreat,0.575669928414,-0.000122098529441,1.06005100835,0.546241561821,0.00855358787012,1.05971749817
+401,6.683333333,pose2_to_pose3_retreat,0.575669907683,-0.00012209808252,1.06005100698,0.546241541051,0.00855358819461,1.05971749711
+402,6.700000000,pose2_to_pose3_retreat,0.575669715948,-0.000122093949033,1.06005099424,0.546241348949,0.00855359119576,1.05971748726
+403,6.716666667,pose2_to_pose3_retreat,0.5756695477,-0.000122100604025,1.06005094719,0.546241180302,0.00855358326333,1.05971744222
+404,6.733333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0417a0938749feac0f5d97e64e0f5d4f666a3eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a4010e574ab3d9e64b54c0dc296ec9e3a88c7cadb57dae2b56a30c1a9498ef3
+size 25661755
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61e8d7610e0f6e5a7fb6549eeac7b53fc2928751
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,406 @@
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+27,0.450000000,BASELINE,765.32992719,745,714,680,658,634,879,786,805,652,631,652,0.400973387615,-0.00535631094177,0.0698329544664,0.999999939883,0.000217609040912,-0.000269586155291,1.42434510893e-05,1793244797476186368
+28,0.466666667,BASELINE,765,745,714.257377196,679.742622804,658,634,878.742622804,786,805,652,631,652,0.400972973182,-0.00535652235006,0.0698329767859,0.999999939898,0.000217442929183,-0.000269664844608,1.42824397937e-05,1793244797492852736
+29,0.483333333,BASELINE,765,745,714.832941811,679.167058189,658,634,878.167058189,786,805,652,631,652,0.400972018269,-0.00535687975329,0.0698327019571,0.999999939892,0.000215806925665,-0.000270998225056,1.42379892184e-05,1793244797509519616
+30,0.500000000,BASELINE,765,745,714.591280577,679.408719423,658.408719423,634,878.817438846,786,805,652,631,652,0.400973192595,-0.0053555327118,0.0698333988567,0.999999939808,0.000218175365539,-0.00026941608038,1.4120940121e-05,1793244797526186240
+31,0.516666667,BASELINE,765,745,714.015415875,679.984584125,658.984584125,634,879.969168251,786,805,652,631,652,0.400975237669,-0.00535348863983,0.0698344931433,0.999999939671,0.000222181417394,-0.00026664163544,1.39742019528e-05,1793244797542852864
+32,0.533333333,BASELINE,765,745,714,679.425779531,658.425779531,634.574220469,879.425779531,786,805,652,630.425779531,652,0.40097514264,-0.0053551817955,0.0698348066196,0.999999939892,0.000220709313793,-0.00026702024663,1.42646804549e-05,1793244797559519744
+33,0.550000000,BASELINE,765,745,714,679.161199266,658,634.838800734,879,786,805,652,630.161199266,652,0.400974567382,-0.00535647702492,0.0698347187623,0.999999940095,0.000218856373474,-0.000267778922262,1.43976313939e-05,1793244797576186368
+34,0.566666667,BASELINE,765,745,714,679.740306245,658,634.259693755,879,786,805,652,630.740306245,652,0.400972899747,-0.00535647413254,0.0698336461302,0.999999940224,0.000216406763945,-0.000269298067663,1.40910155733e-05,1793244797592852992
+35,0.583333333,BASELINE,765,745,714,680,658,634,879.317305682,786,805,652,631,651.682694318,0.400972888391,-0.00535555554768,0.0698335678894,0.999999940034,0.000217624418617,-0.000269025322162,1.40409446525e-05,1793244797609519872
+36,0.600000000,BASELINE,765,745,714,680,658,634,879.892591679,786,805,652,631,651.107408321,0.400974223646,-0.00535389247366,0.0698342981225,0.999999939573,0.000221823683592,-0.000267295708553,1.41994534303e-05,1793244797626187008
+37,0.616666667,BASELINE,765,745,714,680,658,634,879.53213899,786,805,652,630.53213899,651.46786101,0.400973414455,-0.00535410204223,0.0698341934476,0.999999939504,0.000221740278602,-0.000267618950414,1.42300368645e-05,1793244797642853376
+38,0.633333333,BASELINE,765.044255496,745,714,679.955744504,658.044255496,634,879,786,805,652,630.044255496,651.955744504,0.400972265986,-0.00535488781083,0.0698339687222,0.999999939613,0.000220436178686,-0.000268291188199,1.42260854197e-05,1793244797659520000
+39,0.650000000,BASELINE,765.634580978,745,714,679.365419022,658.634580978,634,879,786,805,652,630.634580978,651.365419022,0.400973005542,-0.00535747886562,0.0698346276578,0.999999940762,0.000216201015447,-0.000267454760716,1.41583695322e-05,1793244797676186624
+40,0.666666667,BASELINE,765.779047218,745,714,679,658.779047218,634,879,786,805,652,631,651,0.400973646087,-0.00535846469359,0.0698350127571,0.999999941412,0.000213998506591,-0.000266802399078,1.40723368884e-05,1793244797692853248
+41,0.683333333,BASELINE,765.199099227,745,714,679,658.199099227,634,879,786,805,652,631,651,0.400974125765,-0.0053568424133,0.0698349529381,0.999999941271,0.000215098573231,-0.000266449100291,1.39565439188e-05,1793244797709519616
+42,0.700000000,BASELINE,765,745,714,679.376101045,658,634,879,786,805,652,631,651.376101045,0.400973585035,-0.00535605749183,0.0698344105904,0.999999940546,0.000216911827878,-0.000267689149933,1.41012668337e-05,1793244797726186240
+43,0.716666667,BASELINE,765,745,714,679.948819298,658,634,879,786,805,652,631,651.948819298,0.40097251086,-0.00535571032288,0.0698336159876,0.999999939509,0.000219097921214,-0.000269762166475,1.43821816249e-05,1793244797742853120
+44,0.733333333,BASELINE,765.520946378,744.479053622,714,680,658,634,879,786,805,652,631,652,0.400973158042,-0.00535546940657,0.0698339027637,0.999999939923,0.000218748303744,-0.00026851332275,1.43061276041e-05,1793244797759520000
+45,0.750000000,BASELINE,765.902905879,744.097094121,714,680,658,634,879,786,805.097094121,652,631,652,0.400973981228,-0.00535548474851,0.0698343219566,0.999999940459,0.000218095505224,-0.000267046456355,1.42649306462e-05,1793244797776186624
+46,0.766666667,BASELINE,765.305752103,744.694247897,714,680,658,634,879,786,805.694247897,652,631,652,0.400974840877,-0.00535676618445,0.069834876582,0.9999999409,0.000217162837104,-0.00026613564123,1.45836745309e-05,1793244797792852992
+47,0.783333333,BASELINE,765,745,714,680,658,634,878.738235969,786,805.738235969,652,631,652,0.400974071895,-0.00535731448336,0.0698342319692,0.999999940643,0.000217209938437,-0.000267057196377,1.46454106142e-05,1793244797809519872
+48,0.800000000,BASELINE,765,745,714,680,658,634,878.201816954,786,805.201816954,652,631,652,0.400971594077,-0.00535709354099,0.06983232906,0.999999939648,0.000218285059291,-0.000269901359441,1.44374822092e-05,1793244797826186496
+49,0.816666667,BASELINE,765,745,714,680,658,634,878.388030734,786,805.388030734,652,631,652,0.400970957806,-0.00535672960633,0.0698321556188,0.999999939609,0.00021778310792,-0.000270464282969,1.41965294456e-05,1793244797842853120
+50,0.833333333,BASELINE,765,745,714,680,658,634,879,786,805.990429088,652,630.990429088,652,0.400971441299,-0.00535629359981,0.0698330192869,0.999999940143,0.000216357868027,-0.000269647026485,1.39389605058e-05,1793244797859519744
+51,0.850000000,BASELINE,765,745,714,680,658,634,879,786,805.401185878,652,630.401185878,652,0.40097247154,-0.00535671609564,0.0698335178462,0.999999940375,0.000216624274852,-0.000268573048501,1.38814181619e-05,1793244797876186624
+52,0.866666667,BASELINE,765,745,714,680,658,634,878.814453213,786,805.185546787,652,630.185546787,652,0.400972918316,-0.00535651854426,0.0698336526777,0.999999940245,0.000217555104546,-0.000268303472217,1.39181438188e-05,1793244797892852992
+53,0.883333333,BASELINE,765,745,714,680,658,634,878.233076369,786,805.766923631,652,630.766923631,652,0.400972120378,-0.00535499823579,0.0698330115625,0.999999939339,0.000219903358608,-0.000269749939556,1.41559729772e-05,1793244797909519616
+54,0.900000000,BASELINE,765,745,714,680,658,634,878.34336081,786,806,652,631,652,0.400971861199,-0.00535503346576,0.0698331372928,0.999999939378,0.000219621409041,-0.000269829785086,1.42501493725e-05,1793244797926186496
+55,0.916666667,BASELINE,765,745,714,680,658,634,878.916492432,786,806,652,631,652,0.400971962547,-0.00535610963384,0.0698337761821,0.999999940049,0.00021757937492,-0.000268995112084,1.42481959404e-05,1793244797942853120
+56,0.933333333,BASELINE,765,745,714,679.508671435,658,634,879,786,805.508671435,652,631,652,0.400971913054,-0.00535656431464,0.0698340584299,0.999999940382,0.000216549276164,-0.000268584653813,1.42933837764e-05,1793244797959519744
+57,0.950000000,BASELINE,765,745,714,679.068661502,658,634.068661502,879,786,805,652,631,652,0.400971778038,-0.00535694101848,0.0698341249781,0.999999940606,0.000215668940549,-0.000268458886627,1.43231072531e-05,1793244797976186368
+58,0.966666667,BASELINE,765,745,714,679.662880269,658,634.662880269,879,786,805,652,631,652,0.400971185317,-0.00535753219983,0.069833006081,0.999999940431,0.000214613880534,-0.000269958433584,1.41729195841e-05,1793244797992852736
+59,0.983333333,BASELINE,765,745,714,679.753232106,658,634.753232106,879,786,805,652,631,652,0.40097139006,-0.00535726470532,0.0698328670095,0.999999940413,0.000214620741142,-0.000270029874078,1.39780734018e-05,1793244798009519616
+60,1.000000000,BASELINE,765,745,714,679.182891056,658,634.182891056,879,786,805,652,631,652,0.400972640472,-0.00535587127651,0.0698340127295,0.9999999406,0.000216020039656,-0.000268228717391,1.37246689487e-05,1793244798026186496
+61,1.016666667,BASELINE,765.395615859,745,714,679.395615859,658,634,879,786,805,652,631,652,0.400972955653,-0.00535671468341,0.0698347057963,0.99999994065,0.000216832935094,-0.000267366629636,1.41184745665e-05,1793244798042853376
+62,1.033333333,BASELINE,765.977977336,745,714,679.977977336,658,634,879,786,805,652,631,652,0.400972829368,-0.00535861396129,0.0698351851938,0.999999940635,0.000217369026065,-0.000266947817971,1.48177877815e-05,1793244798059520000
+63,1.050000000,BASELINE,765.433647937,745,714,680,658.566352063,634,879,786,805,652,631,652,0.400972511697,-0.00535768707463,0.0698345180875,0.999999940531,0.000216713187115,-0.000267896936554,1.43272839555e-05,1793244798076186368
+64,1.066666667,BASELINE,765,745,714,680,658.84747338,634,879,786,805.15252662,652,631,652,0.40097259771,-0.00535684230215,0.0698340851464,0.999999940505,0.000216391216283,-0.000268269640183,1.39953320066e-05,1793244798092852992
+65,1.083333333,BASELINE,765,745,714,680,658.268117159,634,879,786,805.731882841,652,631,652,0.400973834438,-0.00535653814935,0.0698344335882,0.999999940713,0.000217134632844,-0.000266878857599,1.42379311226e-05,1793244798109519616
+66,1.100000000,BASELINE,765,745,714,680,658,634,879,786,805.690115087,652,631,652,0.400974248419,-0.0053564486795,0.0698346338232,0.9999999407,0.00021807753811,-0.000266152985513,1.43212262756e-05,1793244798126186240
+67,1.116666667,BASELINE,765,745,714,680,658,634,879,786,805.113279578,652,631,652,0.400973953642,-0.00535654414845,0.0698347063855,0.999999940498,0.000219192293036,-0.00026599990116,1.42672888941e-05,1793244798142853120
+68,1.133333333,BASELINE,765,745,714,680,658.460885187,634,879,786,805,652,631,652,0.400973167719,-0.00535645078604,0.0698346556442,0.999999940441,0.000218319132584,-0.000266927462704,1.43228567033e-05,1793244798159519744
+69,1.150000000,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400972387102,-0.00535632066704,0.0698345938332,0.999999940432,0.000217053137748,-0.00026798432915,1.44000233922e-05,1793244798176186624
+70,1.166666667,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400973570784,-0.00535633769248,0.0698348307828,0.999999940673,0.000217244031087,-0.000266928868479,1.4396300818e-05,1793244798192853248
+71,1.183333333,BASELINE,765,745,714,680,658.786961829,634,879,786,805,652,631,652,0.400974136416,-0.0053564368205,0.0698348074094,0.99999994087,0.0002170853756,-0.000266327209239,1.42518350706e-05,1793244798209519872
+72,1.200000000,BASELINE,765,745,714,680,658.209135346,634,879,786,805,652,631,652,0.400973643752,-0.00535667653397,0.0698343382813,0.999999940993,0.000216328182687,-0.000266502600516,1.38663727716e-05,1793244798226186496
+73,1.216666667,BASELINE,765,745,714,679.632119245,658,634,879,786,805,652,631,652,0.400972431344,-0.00535701670298,0.0698337019327,0.999999940538,0.000216274155413,-0.000268246726412,1.38981825316e-05,1793244798242853120
+74,1.233333333,BASELINE,765,745,714,679.055562857,658,634,879,786,805,652,631,652,0.400970810673,-0.0053574138541,0.0698329707305,0.99999993975,0.000216618989862,-0.00027088069686,1.41666845309e-05,1793244798259519744
+75,1.250000000,BASELINE,765,745,714,679,658,634,879,786,805,652,630.469755664,652,0.400972748706,-0.00535743589511,0.0698348939756,0.999999940609,0.000216525797488,-0.000267759761495,1.42360985397e-05,1793244798276186368
+76,1.266666667,BASELINE,765,745,714,679.115496543,658,634,879,786,805,652,630.230993086,652,0.40097429934,-0.00535717200586,0.0698363329645,0.99999994129,0.000216508754409,-0.000265217157382,1.42840804295e-05,1793244798292852992
+77,1.283333333,BASELINE,765,745,714,679.694561355,658,634,879,786,805,652,631.389122709,652,0.400972771762,-0.0053559210456,0.0698346920521,0.999999940589,0.000216984850074,-0.00026745920186,1.43312603555e-05,1793244798309519872
+78,1.300000000,BASELINE,765,745,714,680,658,634.270976227,879,786,805,652,631.458047547,652,0.400972514007,-0.00535581887509,0.0698340270279,0.9999999404,0.000216987924108,-0.000268164430206,1.42924799966e-05,1793244798326186496
+79,1.316666667,BASELINE,765,745,714,680,658,634.844433031,879,786,805,652,630.311133938,652,0.400973673707,-0.00535699905547,0.0698344513513,0.999999940786,0.000216462981844,-0.000267154168312,1.41577453988e-05,1793244798342853376
+80,1.333333333,BASELINE,765,745,714,680,658,634.579488978,879,786,805,652,630.420511022,652,0.400973805407,-0.0053576628003,0.0698347797603,0.99999994096,0.000216062051849,-0.000266825019071,1.41666791415e-05,1793244798359520000
+81,1.350000000,BASELINE,765,745,714,680,658,634.002435156,879,786,805,652,630.997564844,652,0.400973554416,-0.00535813429281,0.0698350724635,0.999999941056,0.000215707287613,-0.000266749426196,1.42290959999e-05,1793244798376186368
+82,1.366666667,BASELINE,765,745,714,680,658,634,878.411825709,786,805,652,631,652,0.400972549718,-0.00535780300582,0.0698340014967,0.999999940367,0.000216873809684,-0.000268380916158,1.42824249197e-05,1793244798392852992
+83,1.383333333,BASELINE,765,744.825021061,714,680,658,634,878,786,805,652,631,652,0.400972046442,-0.00535780938835,0.0698334555584,0.999999940003,0.000217541870384,-0.000269187322848,1.43830150176e-05,1793244798409519616
+84,1.400000000,BASELINE,765,744.247110067,714,680,658,634,878,786,805,652,631,652,0.400972705167,-0.00535860117206,0.0698341319348,0.999999940406,0.00021704725557,-0.000268077113704,1.45925243016e-05,1793244798426186496
+85,1.416666667,BASELINE,765,744.328977773,714,680,658,634,878,786,805.328977773,652,631,652,0.400973170187,-0.00535806762885,0.0698345672277,0.999999940401,0.000218114594281,-0.000267227848917,1.45885136443e-05,1793244798442853120
+86,1.433333333,BASELINE,765,744.903703672,714,680,658,634,878,786,805.903703672,652,631,652,0.400973490506,-0.00535654405942,0.0698348224299,0.999999940088,0.000220348720515,-0.000266573511003,1.44250024558e-05,1793244798459519744
+87,1.450000000,BASELINE,765,745,714,679.520572998,658,634,878.479427002,786,805.520572998,652,631,652,0.400973061266,-0.00535553935492,0.0698344435564,0.999999939886,0.000220575538824,-0.000267143272704,1.44688931453e-05,1793244798476186624
+88,1.466666667,BASELINE,765,745,714,679,658,634,879,786,805,652,631,652,0.400972508804,-0.00535478993565,0.0698339830745,0.999999939743,0.000220282460813,-0.000267915593425,1.4537220821e-05,1793244798492852992
+89,1.483333333,BASELINE,765,745,714,679,658,634,879,786,805,652,631,652,0.400972216348,-0.00535545925196,0.0698339553663,0.999999939951,0.000218899599242,-0.000268275764872,1.4442767934e-05,1793244798509519616
+90,1.500000000,BASELINE,765,745,714.235020621,679.235020621,658,634,879,786.235020621,805,652,631,652,0.400972229524,-0.00535656998347,0.0698339786785,0.999999940356,0.000216958573999,-0.000268341617419,1.44573444634e-05,1793244798526186240
+91,1.516666667,BASELINE,765,745,714.812758611,679.812758611,658,634,879,786.812758611,805,652,631,652,0.400972688384,-0.00535832440592,0.0698340763909,0.999999941045,0.000214203610147,-0.000267978281212,1.46309124744e-05,1793244798542852864
+92,1.533333333,BASELINE,765,745,714.612594618,679.612594618,658.774810765,634,879,786.612594618,805,652,630.612594618,652,0.400972553757,-0.0053579745606,0.0698337099969,0.999999940912,0.000214718721696,-0.000268083622657,1.42388776359e-05,1793244798559519488
+93,1.550000000,BASELINE,765,745,714.039430021,679.039430021,659.921139958,634,879,786.039430021,805,652,630.039430021,652,0.400972134556,-0.00535661572809,0.0698331210657,0.999999940383,0.000216801820092,-0.000268413692988,1.35756386792e-05,1793244798576186368
+94,1.566666667,BASELINE,765,744.465358246,714,679.534641754,659.465358246,634,879,786,805,652,630.534641754,652,0.400972513917,-0.00535770860941,0.0698341888976,0.999999940933,0.000215336467431,-0.000267517710576,1.40834394258e-05,1793244798592852992
+95,1.583333333,BASELINE,765,744.113093844,714,680,658.886906156,634,879,786,805,652,631,651.886906156,0.400972853631,-0.00535848452617,0.0698351106164,0.999999941282,0.000214644575719,-0.000266740580741,1.4594828198e-05,1793244798609519616
+96,1.600000000,BASELINE,765,744.70999821,714,680,658.29000179,634,879,786,805,652,631,651.29000179,0.400972771362,-0.00535712965035,0.069834883671,0.999999940439,0.000218382957615,-0.000266859374827,1.47514746327e-05,1793244798626186496
+97,1.616666667,BASELINE,765,745,714,680,658,634,878.703507871,786,805,652,630.703507871,651.296492129,0.400972685845,-0.00535693292939,0.0698348324586,0.999999940103,0.000219897322435,-0.000266871646754,1.47598714165e-05,1793244798642853376
+98,1.633333333,BASELINE,765,745,714,680,658,634,878.126851142,786,805,652,630.126851142,651.873148858,0.400972597262,-0.00535783058493,0.0698349473019,0.999999940258,0.000219310144377,-0.000266783262588,1.4628182502e-05,1793244798659520000
+99,1.650000000,BASELINE,765,745.446261054,714,680,658,634,878,786,805,652,630.446261054,652,0.400972322016,-0.00535733695349,0.0698348837354,0.999999940379,0.000218425617596,-0.000267082615196,1.41221360341e-05,1793244798676186624
+100,1.666666667,BASELINE,765,745.980880554,714,679.980880554,658,634,878.019119446,786,805.019119446,652.019119446,630.980880554,652,0.400972029673,-0.00535650004579,0.0698347702896,0.999999940491,0.000217477477211,-0.000267465447556,1.35431616081e-05,1793244798692853248
+101,1.683333333,BASELINE,765,745.385545188,714,679.385545188,658,634,878.614454812,786,805.614454812,652.614454812,630.385545188,652,0.400972808552,-0.0053571424497,0.0698346699447,0.999999940665,0.00021713940404,-0.000267068703631,1.39480569969e-05,1793244798709519872
+102,1.700000000,BASELINE,765,745,714,679.202651908,658,634,878.797348092,786,805.594696184,652.797348092,630.202651908,652,0.400973474928,-0.0053576921851,0.0698347157191,0.999999940907,0.000216687396848,-0.000266516038572,1.42266126148e-05,1793244798726186240
+103,1.716666667,BASELINE,765,745,714,679.777730472,658,634,878.222269528,786,804.444539056,652.222269528,630.777730472,652,0.400973934548,-0.00535807161747,0.0698350300264,0.999999941272,0.000216026005695,-0.000265676827101,1.42729853342e-05,1793244798742853120
+104,1.733333333,BASELINE,765,745,714,680,658,634,878.353785069,786.353785069,804.353785069,652,631,652,0.400974922073,-0.00535756864748,0.0698360154504,0.999999941561,0.000216175114873,-0.000264467628726,1.42342441919e-05,1793244798759519744
+105,1.750000000,BASELINE,765,745,714,680,658,634,878.930454622,786.930454622,804.930454622,652,631,652,0.400976242176,-0.00535650976429,0.0698374236777,0.9999999418,0.000216834838945,-0.000263025338635,1.41418813474e-05,1793244798776186624
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400973227652,-0.00535880571958,0.0698347900242,0.999999941298,0.000213736211561,-0.000267442258709,1.40118364177e-05,1793244798807172864
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.407439146,652,0.400972822375,-0.00535678032667,0.0698348669376,0.999999940609,0.000216794629787,-0.000267552737301,1.40270547387e-05,1793244798823839744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.819367992,630.180632008,651.819367992,0.400972640913,-0.00535601409459,0.0698349280333,0.999999940404,0.000217990544557,-0.000267350258283,1.40202107725e-05,1793244798840506368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651.241178224,630.758821776,651.241178224,0.400972952053,-0.00535801918249,0.0698349543157,0.999999941271,0.000215087226818,-0.000266458982616,1.39648093385e-05,1793244798857172736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.33342082,680,658,634,879,786,805,651.33342082,631,651.33342082,0.400972767236,-0.00535836882542,0.0698349107692,0.999999941525,0.000213832193182,-0.000266520991223,1.38969796845e-05,1793244798873839360
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.905450169,680,658,634,879,786,805,651.905450169,631,651.905450169,0.400972227495,-0.0053575337693,0.0698348172505,0.999999941343,0.000213756734073,-0.000267265206113,1.38202559301e-05,1793244798890505984
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.505602716,658,634,878.505602716,786,805,652,631,652,0.400973115416,-0.00535747955437,0.0698356618479,0.9999999414,0.000215040986941,-0.000266013478867,1.3966568695e-05,1793244798907172608
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.91520496,679.08479504,658,634,878.08479504,786,805,652,631,652,0.400974070835,-0.00535750301543,0.0698364289318,0.999999941434,0.000216428387471,-0.000264748254368,1.41247252923e-05,1793244798923839232
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.335884464,679.664115536,658,634,878.664115536,786,805,652,631,652,0.400973771169,-0.00535707773188,0.0698356605764,0.999999941089,0.000216847087704,-0.000265709320288,1.40943823185e-05,1793244798940505856
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.24124975,786,805,652,631,652,0.400976474361,-0.00535696085826,0.0698364418866,0.99999994149,0.000216657120261,-0.000264352701006,1.40824448288e-05,1793244798957172480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.815367362,786,805,652,631,652,0.400983320792,-0.00535726951776,0.0698393613705,0.999999942906,0.000215627334677,-0.000259798221674,1.40959025765e-05,1793244798973839360
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.60108882,658,634,879.20217764,786,805.39891118,652,631,652,0.401004832234,-0.0053570874747,0.0698489193972,0.999999946715,0.000216468038369,-0.000243923601314,1.45896048307e-05,1793244798990506240
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.013076523,658,634,878.026153046,786,805.986923477,652,631,652,0.401033295523,-0.00535667281748,0.0698616243799,0.999999951284,0.00021819543454,-0.000222682745015,1.5310963705e-05,1793244799007172864
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.56634086,658,634,878.56634086,786,805.43365914,652,631,652,0.401086119651,-0.00536010799515,0.0698785328112,0.999999958519,0.000214577110865,-0.000191491163433,1.5791729586e-05,1793244799023839488
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.145281427,680,658,634,879,786,805,652,631,652,0.401142276315,-0.00536280765363,0.0698940765603,0.999999963795,0.000211767296433,-0.000165256381421,1.5982294054e-05,1793244799040506112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.723383996,680,658,634,879,786,805,652,631,652,0.401206710567,-0.00536305519714,0.0699052698398,0.999999965539,0.000211728409458,-0.000154463103658,1.53245957001e-05,1793244799057172480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.700191006,680,658,634,879,786,805,652,630.700191006,652,0.40127871263,-0.00536426723863,0.0699123285757,0.99999996723,0.000210413099814,-0.000145125453096,1.43315727015e-05,1793244799073839360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.125305226,680,658,634,879,786,805,652,630.125305226,652,0.401357658209,-0.00536636421354,0.0699155938391,0.999999968897,0.000207926663718,-0.000137123351018,1.30308871064e-05,1793244799090506240
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.460050819,680,658,634,879,786,805,652,630.460050819,652,0.401449167439,-0.00536823093951,0.0699134043343,0.999999968526,0.000207433396928,-0.000140713161302,1.0918467907e-05,1793244799107172608
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.952469018,680,658,634.047530982,879,786,805,652,631,652,0.401546382007,-0.00536997496355,0.0699098777535,0.99999996761,0.000207381143797,-0.000147307238633,8.53109655515e-06,1793244799123839232
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.373861591,680,658,634.626138409,879,786,805,652,631,652,0.401668218554,-0.00537106503967,0.0699083987205,0.9999999673,0.000206049392619,-0.000151369648151,5.59948467015e-06,1793244799140505856
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.795054327,714,679.795054327,658,634.795054327,878.795054327,786,805,652,631,652,0.401804111726,-0.00537285346178,0.0699090960418,0.999999967878,0.000203362806482,-0.000151263147588,2.47610494293e-06,1793244799157172736
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.215882226,714,679.215882226,658,634.215882226,878.215882226,786,805,652,631,652,0.401965671982,-0.00537591704862,0.0699137673397,0.999999970055,0.000198202320748,-0.000143544305698,-9.9743845213e-07,1793244799173839360
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.35918373,714.35918373,679.35918373,658,634,878.35918373,786,805,652,631,652,0.402145489029,-0.00537947355189,0.0699185668533,0.999999972113,0.000193550995306,-0.000135243526679,-4.54043323674e-06,1793244799190506240
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.931809697,714.931809697,679.931809697,658,634,878.931809697,786,805,652,631,652,0.402336155051,-0.00538332296732,0.0699234425586,0.999999974055,0.000189202234043,-0.000126596935144,-8.12469932038e-06,1793244799207173120
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.521985852,634,878.478014148,786,805,652,631,652,0.402559247819,-0.00538626020237,0.0699238396084,0.999999975372,0.000183217814932,-0.000124558253582,-1.31144630195e-05,1793244799223839744
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.887862452,680,658.887862452,634,878.112137548,786,805,652,631,651.887862452,0.402794151792,-0.00538925805942,0.0699242230987,0.999999976696,0.000176851832218,-0.00012244918159,-1.84004119759e-05,1793244799240506368
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.307714208,680,658.307714208,634,878.692285792,786,805,652,631,651.307714208,0.40306005571,-0.00539302356427,0.0699270767885,0.999999978525,0.000169816189791,-0.000116318248002,-2.41295432513e-05,1793244799257172992
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.730758525,651.269241475,0.403351315588,-0.00539857800219,0.0699348798602,0.999999981412,0.000161639456398,-0.00010092243814,-2.93956322674e-05,1793244799273839616
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.157408876,651.842591124,0.403671215002,-0.00540615303932,0.0699482732574,0.999999985022,0.000152173861403,-7.50619532594e-05,-3.41387148144e-05,1793244799290506496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.424938475,745,714,679.575061525,658,634,879.424938475,786,805,652,630.424938475,652,0.40399736112,-0.00541139548201,0.0699524252058,0.999999986751,0.000141288725574,-7.0694880674e-05,-3.92124220478e-05,1793244799307172864
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.989372958,745,714,679.010627042,658.010627042,634,879.989372958,786,805,652,631,652,0.404327226909,-0.00541572922985,0.0699531602941,0.999999987858,0.000129739473224,-7.42361451624e-05,-4.405721095e-05,1793244799323839488
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.407119695,745,714,679.592880305,658.592880305,634,879.407119695,786,805,652,631,652,0.404730014082,-0.00541866733105,0.0699582243501,0.999999991199,0.00011136403524,-6.56401420942e-05,-2.98582666381e-05,1793244799340506368
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.173004728,745,714,679.826995272,658.826995272,634,879,786,805,652,630.826995272,652,0.405137982911,-0.00542091961518,0.0699620273594,0.999999992977,0.000100187964093,-5.9233330395e-05,-2.23395055655e-05,1793244799357172992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.74818032,745,714,679.25181968,658.25181968,634,879,786,805,652,630.25181968,652,0.405557997082,-0.00542157763239,0.0699628989088,0.999999992271,0.000105747713338,-5.79155657846e-05,-3.03496577928e-05,1793244799373839616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.67154164,745,714,679.32845836,658.32845836,634,879,786,805,652,630.32845836,651.67154164,0.405992367694,-0.00542912879801,0.069961154722,0.999999992983,9.63957180269e-05,-5.9000780514e-05,-3.54994409064e-05,1793244799390506240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.087289906,745,714,679.912710094,658.912710094,634,879,786,805,652,630.912710094,651.087289906,0.406437918711,-0.00544204813785,0.0699573734796,0.999999994498,7.54309105264e-05,-6.19573622488e-05,-3.84216564672e-05,1793244799407172864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.505024062,634,879,786,805,652,631,651.494975938,0.406925177015,-0.00545022271272,0.0699405046104,0.999999993383,6.19203523498e-05,-8.8280969674e-05,-4.00767140664e-05,1793244799423839488
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.076578612,634.076578612,879,786,805.076578612,651.923421388,631,652,0.407432183622,-0.00546004205723,0.0699245586231,0.999999991663,4.79145073812e-05,-0.000112752881585,-4.08004117707e-05,1793244799440506368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.656116903,634.656116903,879,786,805.656116903,651.343883097,631,652,0.408020780288,-0.00548613777145,0.0699297722945,0.999999994265,2.20562211008e-05,-9.81061703086e-05,-3.68688755727e-05,1793244799457172992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.232536465,745,714,680,658.767463535,634.767463535,879,786,806,651.232536465,631,652,0.408622590917,-0.00550825546433,0.0699388120142,0.999999996438,-3.86546919604e-06,-7.66979838988e-05,-3.50090155729e-05,1793244799473839616
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.804404948,745,714,680,658.195595052,634.195595052,879,786,806,651.804404948,631,652,0.409243684167,-0.00552456817363,0.0699534349467,0.999999997868,-2.98796811055e-05,-4.54230233292e-05,-3.61722776247e-05,1793244799490506496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.611576316,745,714,680,658,634,879,786.388423684,806,651.611576316,631,652,0.409850096347,-0.00552721092714,0.0699523641009,0.999999997827,-3.1223516179e-05,-4.4258380086e-05,-3.75710777722e-05,1793244799507173376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.021241635,745,714,680,658,634,879,786.978758365,806,651.021241635,631,652,0.410448876972,-0.00552274774266,0.0699431352907,0.999999997315,-1.97431571132e-05,-5.87457294241e-05,-3.90923156703e-05,1793244799523840000
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.55882392,634,879,786.44117608,805.44117608,651,631,652,0.411120020458,-0.00553613272645,0.0699433617344,0.999999996197,-4.34193037974e-05,-6.4438323025e-05,-3.95961050919e-05,1793244799540506624
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.137666677,658.862333323,634,879.137666677,786,805.137666677,651.137666677,631,651.862333323,0.411817692988,-0.00554877705386,0.0699508321569,0.999999995552,-6.47798388196e-05,-5.57143253298e-05,-3.99536589132e-05,1793244799557172992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.71383531,658.28616469,634,879.71383531,786,805.71383531,651.71383531,631,651.28616469,0.412591263598,-0.00555694022854,0.0699802522791,0.999999996418,-7.45848041544e-05,-2.11557898822e-06,-3.99663815862e-05,1793244799573839616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.713577795,714,680.713577795,658.286422205,634,879.713577795,786,806,652,631,651.286422205,0.413356405829,-0.00555692501496,0.0700058835533,0.99999999585,-7.30215181457e-05,3.82991547576e-05,-3.87438739408e-05,1793244799590506496
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.144525153,714,680.144525153,658.855474847,634,879.144525153,786,806,652,631,651.855474847,0.41411323135,-0.00554883968278,0.0700277761414,0.999999995368,-6.02404794045e-05,6.57044173779e-05,-3.63024884979e-05,1793244799607172864
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.445127627,714,680.445127627,659,634,879,786,805.554872373,652,631,652,0.41483078942,-0.00552235157599,0.0700002286664,0.999999998749,-2.87438617822e-05,1.29166238764e-05,-3.88382242317e-05,1793244799623839488
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.959482724,659,634,879,786,805,652,631,652,0.415541640279,-0.00549183222847,0.0699565819071,0.999999996959,5.94202473169e-06,-6.4704128566e-05,-4.31201807586e-05,1793244799640506112
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.381036016,659,634,879,786,805,652,631,652,0.416340925604,-0.00549096943029,0.0699226532219,0.999999992841,-1.62093703862e-06,-0.00010956136965,-4.80901507687e-05,1793244799657172992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.196979328,745,714,680.196979328,659,634,879,786,805.196979328,652,631,652,0.417170434741,-0.00549564429796,0.0699108777615,0.99999999094,-1.13799236564e-05,-0.000124271271054,-5.04744398758e-05,1793244799673839616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.774162032,745,714,680.774162032,659,634,879,786,805.774162032,652,631,652,0.418058280892,-0.00551100779617,0.0699418617692,0.999999995269,-2.53776087165e-05,-8.07917120333e-05,-4.78679278717e-05,1793244799690506240
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.643591497,745,714,681,659,634,879,786,806,652,630.643591497,652,0.418927414752,-0.00552066141934,0.0699691300823,0.999999997292,-3.81402519622e-05,-4.23302929701e-05,-4.65789839201e-05,1793244799707172864
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.058090152,745,714,681,659,634,879,786,806,652,630.058090152,652,0.41978452066,-0.00552664483907,0.069994010014,0.999999997655,-5.01090324513e-05,-7.09444382926e-06,-4.61369486153e-05,1793244799723839232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634.521863034,879,786,805.478136966,652,630.521863034,652,0.420688655729,-0.00553127873692,0.07001708669,0.999999996913,-5.65263374779e-05,2.9158173557e-05,-4.61338249049e-05,1793244799740506112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.100897715,680.899102285,659,634.899102285,879.100897715,786,805.100897715,652,631,652,0.421591497218,-0.00553338244405,0.0700324854758,0.999999995736,-5.98785567718e-05,5.27379932763e-05,-4.64838357637e-05,1793244799757172736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.678479838,680.321520162,659,634.321520162,879.678479838,786,805.678479838,652,631,652,0.422463754966,-0.00552423467081,0.0700125489225,0.999999997375,-5.1638743244e-05,1.59169448966e-05,-4.8273815669e-05,1793244799773839360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.746056286,680.253943714,659,634,879.746056286,786,806,652,631,652,0.423313345561,-0.00551528129171,0.0699628254855,0.999999995582,-4.57110033309e-05,-6.34517558992e-05,-5.21607985086e-05,1793244799790506240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.173252076,680.826747924,659,634,879.173252076,786,806,652,631,652,0.424134474614,-0.00550657199938,0.0698757006059,0.999999978111,-4.26863812432e-05,-0.000196244762905,-5.86808503111e-05,1793244799807173120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.412341724,745,714,680.587658276,659.412341724,634,879,786,806,652,631,652,0.4250366571,-0.00551154993593,0.069863413689,0.999999975347,-5.09061602243e-05,-0.000207284923637,-6.12249512482e-05,1793244799823839488
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.996588107,745,714,680.003411893,659.996588107,634,879,786,806,652,631,652,0.425974147826,-0.00552244212101,0.0698838341787,0.999999982373,-6.39780476795e-05,-0.000165276342013,-6.20104852746e-05,1793244799840506112
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.417226816,745,714,680.582773184,659.417226816,634,879,786,806,652,631,652,0.42693902838,-0.00552983189817,0.0699475522517,0.999999992488,-7.30594112218e-05,-8.025577176e-05,-5.69667343156e-05,1793244799857172736
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.161358311,745,714,681.161358311,659,634,879,786,806,652,631,652,0.427903978657,-0.00553461185999,0.0700020748616,0.999999995574,-7.75511501251e-05,-4.53745565679e-06,-5.30712760874e-05,1793244799873839360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.737946075,745,714,681.737946075,659,634,879,786,806,652,631,652,0.4288691083,-0.00553267588469,0.0700329344346,0.999999995059,-7.02322346496e-05,4.72430112456e-05,-5.21307641592e-05,1793244799890505984
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.689711308,745,714,681.689711308,659.310288692,634,879.310288692,786,806,652,631,651.689711308,0.429808329147,-0.0055307925032,0.0700429500126,0.999999994345,-6.58195208765e-05,6.48929898088e-05,-5.25960251253e-05,1793244799907172864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.120905563,745,714,681.120905563,659.879094437,634,879.879094437,786,806,652,631,651.120905563,0.43072596403,-0.00552895294033,0.0700355994129,0.999999995029,-6.38281097908e-05,5.41071463915e-05,-5.42325060351e-05,1793244799923839488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806,652,631,651,0.43152976635,-0.00552796352797,0.0699655350577,0.999999994126,-6.35846626616e-05,-6.68538950373e-05,-5.68758896486e-05,1793244799940506368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,713.936945786,681.063054214,659.936945786,634,879.936945786,786,806,651.936945786,631,651.063054214,0.432318344411,-0.00552754904771,0.0698889081356,0.999999976554,-6.39297188404e-05,-0.000198133668932,-5.95602544298e-05,1793244799957172736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.357584092,681.642415908,659.357584092,634,879.357584092,786,806,651.357584092,631,651.642415908,0.433233869866,-0.00552996316771,0.0698971637372,0.999999981536,-6.52300355683e-05,-0.00017038155185,-6.03545941186e-05,1793244799973839360
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.220331992,682,659.220331992,634,879.220331992,786,806,651,631,652,0.434159697072,-0.00553227553238,0.0699270392931,0.999999989464,-6.8814947072e-05,-0.000112950603409,-5.9813912984e-05,1793244799990505984
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.795917334,682,659.795917334,634,879.795917334,786,806,651,631,652,0.435102134501,-0.00553442383173,0.0699917738878,0.999999995445,-7.60834357302e-05,-7.66684288195e-06,-5.71207043093e-05,1793244800007172608
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436002726448,-0.00553829049653,0.0700241282117,0.999999994485,-7.65825342837e-05,4.56699292283e-05,-5.54848918168e-05,1793244800023839232
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436880330787,-0.00554310113431,0.070038694636,0.999999993345,-7.33629113044e-05,7.04699475555e-05,-5.44299535551e-05,1793244800040505856
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.453776855,880,786,806,651.546223145,631,652,0.437698974094,-0.00554593123237,0.0700134050589,0.999999993994,-8.26410893437e-05,4.46599518837e-05,-5.64633848896e-05,1793244800057172736
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.125952101,714,682,660,633.125952101,880,786.125952101,806,651.874047899,630.874047899,652,0.438487162651,-0.00554676153574,0.0699754607643,0.999999994405,-8.77845620261e-05,-5.13355317351e-06,-5.87989008321e-05,1793244800073839616
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.702121297,714,682,660,633.702121297,880,786.702121297,806,651.297878703,630.297878703,652,0.43917980261,-0.00554089071955,0.0699012807641,0.999999986921,-7.53267250054e-05,-0.000129229600891,-6.15169268627e-05,1793244800090506240
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.277559464,659.722440536,633.722440536,880,786.722440536,806,651.277559464,630.277559464,652,0.439878306945,-0.00553763770012,0.0698390166296,0.999999968748,-7.21994256486e-05,-0.000230633981881,-6.40294838129e-05,1793244800107172864
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,682.85221511,659.14778489,633.14778489,880,786.14778489,806,651.85221511,630.85221511,652,0.44058308839,-0.00553718673802,0.0697895070936,0.999999947321,-7.90594185868e-05,-0.000307749479499,-6.63221095557e-05,1793244800123839488
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682.559939611,659,633,880,786,806.440060389,652,631,652,0.441357008375,-0.00554125835889,0.0698097520066,0.999999956581,-8.25635742034e-05,-0.000275142031495,-6.5707464076e-05,1793244800140506112
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.968302212,714,682,659,633,880.031697788,786,807,652,631,652,0.442149251702,-0.0055465379605,0.0698524999137,0.999999972742,-8.47845020715e-05,-0.000207891084633,-6.41002951884e-05,1793244800157172992
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.390015767,714,682,659,633,880.609984233,786,807,652,631,652,0.442844708532,-0.00554564841109,0.0698668583175,0.999999974768,-8.49117070924e-05,-0.000198288846179,-6.27343565319e-05,1793244800173839616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.187360721,745,714,682.187360721,659,633,881,785.812639279,807,651.812639279,631,652,0.443510660599,-0.00554513225268,0.0698629345585,0.999999971486,-8.39154668867e-05,-0.000214809941723,-6.19862886753e-05,1793244800190506240
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.762852274,745,714,682.762852274,659,633,881,785.237147726,807,651.237147726,631,652,0.444115491615,-0.00554538959966,0.0698211380239,0.999999954058,-8.05919311062e-05,-0.000285447347621,-6.25181829311e-05,1793244800207173120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.654866369,745.345133631,714,683,658.654866369,632.654866369,880.654866369,785,807,651.345133631,631,652,0.444707496369,-0.00554572488267,0.0697780711971,0.999999933045,-7.67865594601e-05,-0.000352111879709,-6.34869126295e-05,1793244800223840000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.067826022,745.932173978,714,683,658.067826022,632.067826022,880.067826022,785,807,651.932173978,631,652,0.445290511066,-0.00554611479161,0.0697341140154,0.99999990874,-7.26434656364e-05,-0.000415991790559,-6.47618234378e-05,1793244800240506368
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.491241941,714,682.491241941,658.508758059,632,880.508758059,785,807,651.491241941,631,652,0.445856707689,-0.00555228705731,0.0697174418596,0.999999901053,-7.89336094414e-05,-0.00043272089675,-6.64509835807e-05,1793244800257173248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.084993451,658.915006549,632,880.915006549,785,807,651.084993451,630.915006549,652,0.446413352085,-0.00555874780735,0.0697050785373,0.999999894585,-8.78625990123e-05,-0.000445547241147,-6.78111970051e-05,1793244800273839872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.667179433,658.332820567,632,880.332820567,785,807,651.667179433,630.332820567,652,0.446926969927,-0.005562477434,0.0696970705788,0.999999881134,-0.000104255495565,-0.000471574441204,-6.69305901024e-05,1793244800290506240
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.754764311,683,657.754764311,631.754764311,880,785,806.754764311,651.754764311,630.245235689,652,0.447417196746,-0.00556471887918,0.0696833401431,0.999999866016,-0.000107912430062,-0.000501967270017,-6.59711525374e-05,1793244800307173120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.182219921,683,657.182219921,631.182219921,880,785,806.182219921,651.182219921,630.817780079,652,0.447876204229,-0.00556497409298,0.0696619720899,0.999999848599,-9.4571057624e-05,-0.000538186770131,-6.49065021239e-05,1793244800323839488
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.403340682,683,657,631,880.403340682,784.596659318,806,651.403340682,630.596659318,652,0.448341443567,-0.00556351028043,0.0696585308879,0.999999846052,-9.41689849639e-05,-0.000543105211132,-6.3757524965e-05,1793244800340506368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.994977852,683,657,631,880.994977852,784.005022148,806,651.994977852,630.005022148,652,0.448809592238,-0.0055612439537,0.0696634586965,0.999999850798,-9.98075235595e-05,-0.000533410997257,-6.25691804437e-05,1793244800357173248
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.572910623,714,683,656.427089377,631,880.427089377,784,806.572910623,651.427089377,630,652,0.449233425791,-0.00555517724249,0.0696733257778,0.999999858399,-9.38874069594e-05,-0.00052000537716,-6.31014557104e-05,1793244800373839616
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.849607758,714,683,656,630.849607758,880,784,807,651.150392242,630,652,0.449642374761,-0.00555194503618,0.0696806077199,0.999999864671,-9.02715357872e-05,-0.000508356604652,-6.38915767776e-05,1793244800390506496
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.273071917,714,683,656,630.273071917,880,784,807,651.726928083,630,652,0.450010222675,-0.00555683672566,0.069680444729,0.999999867606,-9.34652502041e-05,-0.000501775974574,-6.5370576457e-05,1793244800407173376
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.307962194,714,683,656,630,880,783.692037806,807,651.692037806,630,652,0.45032477648,-0.00556184730215,0.0696622473322,0.999999852514,-9.93761095155e-05,-0.000529663097988,-6.74740608269e-05,1793244800423839744
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.893044039,714,683,656,630,880,783.106955961,807,651.106955961,630,652,0.450591373581,-0.00556696485877,0.0696278216829,0.999999818532,-0.000107731990059,-0.000588566013825,-7.01394872143e-05,1793244800440506112
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,713.525526073,683,656,630,880,783,807,651.474473927,630,652,0.450860807541,-0.00556863257367,0.0695998470053,0.999999793321,-0.000111883104476,-0.000629067129262,-7.15143043195e-05,1793244800457172736
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+209,3.483333333,POSE1_TO_POSE2_PRESS,764.215659087,745,714,683,655.215659087,630,880.784340913,783,807,652,630,652,0.451826432402,-0.00557598680494,0.0695697485324,0.999999773706,-0.000115185820118,-0.000660283923686,-5.78314508984e-05,1793244800523839488
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764.955648352,745.955648352,714,683,655,629.044351648,880.044351648,783,807,652,630,652,0.452188855948,-0.00558102165333,0.0695628719219,0.999999767833,-0.000120681836738,-0.000667821282943,-6.15130203471e-05,1793244800557172992
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.465122824,714,683,655,629.534877176,880.534877176,783,807,651.465122824,630,652,0.452338827041,-0.00558179173359,0.0695579163775,0.999999763399,-0.000120841166607,-0.000674297843682,-6.26320065734e-05,1793244800573839616
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683,655,630,880.309154211,783,807,651.690845789,629.309154211,652,0.452585636832,-0.00558269046657,0.0695457475863,0.999999747967,-0.000124801400919,-0.00069588073007,-6.51142466295e-05,1793244800607172864
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.73632604,745.26367396,714,683,655,629.73632604,880,782.73632604,807,652,629.26367396,652,0.452685204339,-0.00558279736893,0.069541622437,0.999999742202,-0.000126516096514,-0.000703729369541,-6.59935469853e-05,1793244800623839488
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+217,3.616666667,POSE1_TO_POSE2_PRESS,764.419781376,746,714,683.419781376,655,629.419781376,880,782.419781376,806.580218624,651.580218624,630,652,0.452854819291,-0.00558405983502,0.0695416339727,0.999999741865,-0.000127847389176,-0.000703971821836,-6.59414634141e-05,1793244800657172992
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.982820791,714,684,654.982820791,629.982820791,880,782.982820791,806.017179209,651.017179209,630,652,0.452927329269,-0.00558612994594,0.0695435783704,0.99999974293,-0.000130068263901,-0.000702112532581,-6.52652642571e-05,1793244800673839872
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.652685893,713.652685893,683,654.347314107,629,880,782,807,652,630,652.652685893,0.453159856967,-0.00558213866849,0.0695359333004,0.999999734075,-0.00012776464748,-0.00071512671975,-6.41919674834e-05,1793244800807173120
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.806365313,713.806365313,683,653.806365313,629,880.806365313,782,806.193634687,652,629.806365313,652,0.45318293957,-0.00558295093335,0.0695349684366,0.999999733674,-0.000128360938323,-0.000715863711519,-6.09518186146e-05,1793244801023839488
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.644279085,745.355720915,713,683,653.355720915,629,880,782,807,651.644279085,629.355720915,652,0.453184540818,-0.00557844034414,0.0695342233075,0.999999734501,-0.000124289818663,-0.000715338529059,-6.19795072752e-05,1793244801057172736
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.056529185,745.943470815,713,683,653.943470815,629,880,782,807,651.056529185,629.943470815,652,0.453185293652,-0.0055791617074,0.0695344743841,0.999999735384,-0.00012316243794,-0.000714328447754,-6.16197153531e-05,1793244801073839360
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.104993715,714,683,654.895006285,629,880.895006285,782,807,652,630,652,0.453183284379,-0.0055790394542,0.0695322580599,0.999999731818,-0.000127226617864,-0.000718548603233,-6.21663940151e-05,1793244801107173120
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+246,4.100000000,HOLD_POSE2,765,746,714,683,654,629,881,782,806,652,629,652,0.453185408135,-0.00557780693341,0.0695331785297,0.999999734072,-0.000124378070075,-0.000715905471261,-6.21673158243e-05,1793244801162346752
+247,4.116666667,HOLD_POSE2,765,745.405662145,714,683,653.405662145,629,881,782,806.594337855,651.405662145,629,652,0.453185271556,-0.00557899730214,0.0695340955065,0.999999733776,-0.000126037624565,-0.000716080307634,-6.15727647595e-05,1793244801179013120
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+251,4.183333333,HOLD_POSE2,765,745.915032403,713.084967597,683,653.915032403,629,880,782,807,652,630,652,0.453184329793,-0.0055794380543,0.0695329488987,0.99999973293,-0.000125314373369,-0.000717393476447,-6.15002700621e-05,1793244801245679616
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+254,4.233333333,HOLD_POSE2,765,745.341110546,713.658889454,683.341110546,653.658889454,629,880,782,807,651.341110546,629,652,0.45318381725,-0.00558010620304,0.0695318970858,0.999999731613,-0.000126152993625,-0.000719099637285,-6.12777838181e-05,1793244801295680000
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,713.277163819,683.277163819,653.722836181,629,880,782,807.445672362,651.722836181,629,652,0.45318253379,-0.00557659128214,0.0695300805113,0.999999731282,-0.000123081605503,-0.000720077795564,-6.14473912262e-05,1793244801600334592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,713.854588959,683.854588959,653.145411041,629,880,782,806.290822083,651.145411041,629,652,0.453174265648,-0.00557538035668,0.0695260937124,0.999999726961,-0.000124549235528,-0.000725756728475,-6.19825834883e-05,1793244801617001472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.569356014,714,684,653.430643986,629,880.430643986,782,806.430643986,651.430643986,629.430643986,652,0.453148263304,-0.00557447066171,0.0695144515358,0.999999713687,-0.000123870969997,-0.000743931369506,-6.2026415602e-05,1793244801633668096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.993752726,653.993752726,628.993752726,881,782,807,652,630,652,0.453116079697,-0.00557368251027,0.0695002005645,0.999999696938,-0.000122501348101,-0.000766345202887,-6.19097447408e-05,1793244801650334976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.417293399,653.417293399,628.417293399,881,782,807,652,630,652,0.453064534179,-0.00557473378133,0.0694830215098,0.99999967691,-0.000123954629862,-0.000791796385602,-6.22387917906e-05,1793244801667001344
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.163106166,628.163106166,880.836893834,782,806.836893834,652,629.836893834,652,0.453007468605,-0.00557467112853,0.0694663290707,0.999999658093,-0.000123809888272,-0.000815217794212,-6.24915480861e-05,1793244801683667968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,653.75383618,628.75383618,880.24616382,782,806.24616382,652,629.24616382,652,0.452935930801,-0.00557168804428,0.0694509124129,0.999999643698,-0.000119475526898,-0.000833317645854,-6.25442891248e-05,1793244801700334592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.337351379,653.662648621,628.662648621,880.337351379,782,806.337351379,652,629,652,0.452856651967,-0.0055684120408,0.0694419877821,0.999999634328,-0.000117259649481,-0.000844823355562,-6.21927163389e-05,1793244801717001216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.91571216,653.08428784,628.08428784,880.91571216,782,806.91571216,652,629,652,0.452771842818,-0.00556492677115,0.0694377011635,0.999999628686,-0.000116557252296,-0.000851618100306,-6.15522950796e-05,1793244801733667840
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.50929393,653.49070607,628.49070607,880.50929393,782,807,652,629.49070607,652,0.452669903974,-0.00556237856867,0.0694353418227,0.999999625911,-0.000113597573393,-0.0008553768252,-6.00264331242e-05,1793244801750334720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.933315538,745,714,683,654,629,880,782,807,652,630,652,0.452562877072,-0.00555989046985,0.0694336843646,0.999999624134,-0.000110284976351,-0.00085800196344,-5.83157133396e-05,1793244801767001344
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.345146543,745,714,683,654,629,880,782,807,652,630,652,0.45243891347,-0.00555662224469,0.0694349445621,0.999999626457,-0.000107223950838,-0.000855812624628,-5.63406444815e-05,1793244801783667968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745.239340665,714,683.239340665,653.760659335,629,880,782,807,652,630,652,0.452299348829,-0.00555382358646,0.0694355037303,0.999999626903,-0.00010448647362,-0.000855792482438,-5.38038489935e-05,1793244801800334592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,745.818598859,714,683.818598859,653.181401141,629,880,782,807,652,630,652,0.452137627218,-0.00555169181909,0.0694350672792,0.999999624689,-0.000102208507951,-0.000858853087112,-5.04692756262e-05,1793244801817001216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.395573595,745.604426405,713.604426405,684,653.395573595,629,880,782,807,652,630,652,0.451957715428,-0.00554761240728,0.0694355897583,0.999999624451,-9.69829042787e-05,-0.00085991807107,-4.72567892662e-05,1793244801833668096
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.97150725,745.02849275,713.02849275,684,653.97150725,629,880,782,807,652,630,652,0.45176950989,-0.00554264497528,0.0694365494573,0.999999625077,-9.04133376843e-05,-0.00086007316068,-4.40999676529e-05,1793244801850334976
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,629,880.546008248,782,807,652,630,652,0.451540355056,-0.00553663012973,0.06943509599,0.999999620245,-8.50659363271e-05,-0.000866389415627,-4.05232142399e-05,1793244801867001344
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.123926092,713,683.876073908,654,629,880.876073908,782,807,652,630,652,0.451303266021,-0.00553089387374,0.0694344405004,0.999999616275,-7.92574945189e-05,-0.000871674613904,-3.67741486703e-05,1793244801883668224
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.715005365,713,683.284994635,654,629,880.284994635,782,807,652,630,652,0.451044302218,-0.00552641329031,0.0694372665335,0.999999616845,-7.14713220924e-05,-0.000871864325681,-3.24579218579e-05,1793244801900334592
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.701295191,745.701295191,713,683,654.298704809,629,880,782.298704809,806.701295191,652,630,652,0.450765112989,-0.00552034069911,0.069444522881,0.999999624762,-6.06426869368e-05,-0.000863749839411,-2.71132928723e-05,1793244801917001216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.124467123,745.124467123,713,683,654.875532877,629,880,782.875532877,806.124467123,652,630,652,0.450467091936,-0.00551278579394,0.0694559042825,0.99999963921,-4.69812232082e-05,-0.000847903335969,-2.08111215864e-05,1793244801933668096
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.453108993,745,713,683,654.546891007,629,880.453108993,783,806.453108993,652,630,652,0.45013911846,-0.00550665102357,0.0694648167341,0.99999964615,-3.27696936057e-05,-0.000840488608963,-1.43025307428e-05,1793244801950334720
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,880.96940865,783,807,652,630,652,0.449801947422,-0.00550086544581,0.0694735706918,0.999999651881,-1.83407833378e-05,-0.000834170742439,-7.7665467459e-06,1793244801967001344
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,880.397229991,783,807,652,630,652,0.449447848624,-0.00549434413531,0.0694915455284,0.999999675017,-2.74287838726e-06,-0.00080619843142,-1.75111349377e-06,1793244801983667968
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.779528072,683,654.779528072,629.779528072,880,783,806.220471928,652,630,652,0.44867244034,-0.00548295489099,0.0695301319918,0.999999722343,4.49959257194e-05,-0.00074376246591,1.0285921676e-05,1793244802017001472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.636141723,745,714,683,655,630.363858277,880,783,806.363858277,651.636141723,630,652,0.448221974075,-0.00547769206742,0.0695417646852,0.999999732999,7.59274100933e-05,-0.000726640198539,1.52229093426e-05,1793244802033668096
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.059225806,745,714,683,655,630.940774194,880,783,806.940774194,651.059225806,630,652,0.447745219472,-0.00547242471569,0.069548501296,0.999999735608,0.000108418994669,-0.000718782144585,1.95256463553e-05,1793244802050334720
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.514125822,745,714,683,655.514125822,631,880,783.514125822,807,651.514125822,630,652,0.447225082064,-0.00546464118835,0.0695382565825,0.999999725445,9.7069093948e-05,-0.000734472897635,1.54014474533e-05,1793244802067001600
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.317997841,683,656.682002159,631,880,784,807,652,630,652,0.446156169943,-0.0054590719059,0.0695198714291,0.99999971356,5.15274493584e-05,-0.000755112125576,5.58456144858e-06,1793244802100335360
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.732306335,631,880,784,806.732306335,651.732306335,630,652,0.445608934734,-0.0054654044153,0.0695298531071,0.999999728936,3.72957153273e-05,-0.000735323720056,5.93747174832e-06,1793244802117002496
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.153972286,631,880,784,806.153972286,651.153972286,630,652,0.445054862284,-0.00547780049721,0.0695595268111,0.999999762867,3.84448034305e-05,-0.000687486796899,1.22422045128e-05,1793244802133669120
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.420911694,713,683,656.420911694,631,880,784.420911694,806,651.420911694,630.420911694,652,0.444451264088,-0.00548573220952,0.0695892129952,0.999999793613,4.24927473681e-05,-0.000640848651043,1.67525342276e-05,1793244802150335744
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.994543863,713,683,656.994543863,631,880,784.994543863,806,651.994543863,630.994543863,652,0.443829696349,-0.00549204410282,0.0696189037069,0.999999821853,4.75924905626e-05,-0.000594645460835,2.06117958939e-05,1793244802167002112
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.428080999,713,683,657,631.571919001,880,785,806,651.428080999,630.428080999,652,0.443162847374,-0.00548043711545,0.0696360533657,0.999999836747,4.5339626644e-05,-0.000569210731819,2.12157010916e-05,1793244802183668480
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.152904634,682.847095366,657.152904634,632.152904634,880,785,806.152904634,651.152904634,630,652,0.442494778195,-0.00546887337827,0.0696545823494,0.999999852037,5.28194477051e-05,-0.000540984243504,2.17087827377e-05,1793244802200335360
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.744137246,682.255862754,657.744137246,632.744137246,880,785,806.744137246,651.744137246,630,652,0.441824457721,-0.00545792690539,0.0696774106423,0.999999868751,8.84021248085e-05,-0.000504182969012,2.1973783851e-05,1793244802217001472
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.671096372,682.328903628,657.671096372,633,880,785,807,652,630.328903628,652,0.441140381763,-0.00544074828721,0.0697092838082,0.999999894818,0.000107831820966,-0.000445353750133,1.99069486666e-05,1793244802233667840
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.09126319,682.90873681,657.09126319,633,880,785,807,652,630.90873681,652,0.440445811298,-0.00541881499415,0.069748057557,0.99999992492,0.000114937970567,-0.000369718806084,1.60610919015e-05,1793244802250334464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.516885054,657.483114946,633,879.516885054,785.483114946,806.516885054,651.516885054,630.516885054,651.516885054,0.439666555002,-0.00540940016953,0.0697631358239,0.999999930242,0.000132608128662,-0.00034877470513,1.69382511886e-05,1793244802267001600
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.35144664,658.64855336,633.35144664,879,786,806,652,630.35144664,651.64855336,0.424834371618,-0.0054066385906,0.0698511235123,0.999999961697,0.000140311603676,-0.000236546686343,3.10391051465e-05,1793244802550334720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.929348175,658.070651825,633.929348175,879,786,806,652,630.929348175,651.070651825,0.423916062813,-0.00539988220398,0.0698270267902,0.999999953474,0.000145876451299,-0.000266422981911,2.81194061909e-05,1793244802567001600
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.493297226,658.506702774,634,879.506702774,785.493297226,805.493297226,652,630.493297226,651.506702774,0.422919007707,-0.00539474524679,0.0697662478463,0.999999913534,0.000159790809388,-0.000383016819169,2.64115435759e-05,1793244802583668480
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.085338678,745,714,681,658.914661322,634,879.914661322,785,805.085338678,652,630.085338678,652,0.421927300714,-0.00539133457174,0.0697075754603,0.999999862369,0.000171255386753,-0.000495285536383,2.50192326459e-05,1793244802600335104
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.671948075,745,714,681,658.328051925,634,879.328051925,785,805.671948075,652,630.671948075,652,0.42103143395,-0.00539673898331,0.0696912880264,0.999999855996,0.000161499134323,-0.000511201768373,2.44889904553e-05,1793244802617001472
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.255287403,633.744712597,879,785.255287403,806,652,631,652,0.420191316542,-0.00540270804663,0.0697203422413,0.999999884699,0.000149774792425,-0.000455570985306,2.49874222425e-05,1793244802633668096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.834477819,633.165522181,879,785.834477819,806,652,631,652,0.419421932564,-0.00540939352833,0.0698069249354,0.999999942663,0.00013555337845,-0.000309162925921,2.67910123853e-05,1793244802650334464
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.588234134,745,714,681,658.588234134,633.411765866,879.411765866,786,806,652,631,652,0.418627657568,-0.00540873661514,0.0698565356978,0.999999962623,0.00014165831807,-0.00023187157275,3.03822377967e-05,1793244802667001344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.011707323,745,714,681,658.011707323,633.988292677,879.988292677,786,806,652,631,652,0.41782342291,-0.00540514176999,0.06989135278,0.999999970641,0.000155896495613,-0.000182236076423,3.46887543282e-05,1793244802683667968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.437004362,786,806,652,630.437004362,652,0.416962483421,-0.00540001689821,0.0698538981079,0.999999957532,0.000164153217023,-0.000238583006722,3.26631123439e-05,1793244802700334848
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.141339784,786,806,652,630.141339784,652,0.416106786654,-0.00539596500433,0.0698181233108,0.999999942872,0.000169496906474,-0.000290854483428,3.04949541886e-05,1793244802717001984
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.731362852,786,806,652,630.731362852,652,0.415271464125,-0.00539541995537,0.0697924367347,0.99999993359,0.000165986751616,-0.000323214824002,2.82910323479e-05,1793244802733668352
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.696779566,658,634,879.696779566,786.303220434,805.696779566,652.303220434,631,652,0.414442999811,-0.00539086045463,0.0697660381785,0.999999916176,0.000170565414895,-0.000371232353146,2.72238090187e-05,1793244802750334976
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.140106013,658,634,879.140106013,786.859893987,805.140106013,652.859893987,631,652,0.413620268122,-0.00538294539076,0.0697390445001,0.99999988963,0.000181905285147,-0.000432337267138,2.71067188732e-05,1793244802767001856
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.444963711,658,634,879,786.555036289,805.444963711,652.555036289,631,652,0.412926249742,-0.00537878887059,0.069764047943,0.999999908518,0.000189385342331,-0.000382577471136,2.70666528843e-05,1793244802783668480
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.961910593,658,634,879.038089407,786,805.961910593,652,631,652,0.412276404331,-0.00537591054913,0.0698067741135,0.999999936593,0.000195325618591,-0.000296513535258,2.72295616863e-05,1793244802800335616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.38974292,658,634,879.61025708,786,805.38974292,652,631,652,0.411638930305,-0.00537322953036,0.069852785584,0.999999954834,0.000197878359825,-0.000224239801362,2.98752798598e-05,1793244802817002240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.190372323,634,879.809627677,786,805.190372323,652,631,652,0.410981277398,-0.0053691804465,0.0698781434848,0.99999996151,0.000202662503439,-0.000186862467934,3.14758411897e-05,1793244802833668608
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.787467332,634,879.212532668,786,805.787467332,652,631,652,0.410280513019,-0.00536220854703,0.069859375887,0.99999995191,0.000212213949152,-0.000224039855692,3.08434684033e-05,1793244802850335488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.628631425,634,879,786,805.628631425,652,631,652,0.409601442367,-0.00535624982239,0.0698238231687,0.999999934387,0.000219650270644,-0.000286632001766,2.8672693766e-05,1793244802867002112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.052021898,634,879,786,805.052021898,652,631,652,0.408934361035,-0.00535085104045,0.0697789939691,0.999999908169,0.000225917643809,-0.000363269891752,2.56517042388e-05,1793244802883668736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.408353457642,-0.00535122362919,0.0697684251056,0.999999904935,0.000224930498551,-0.000372783525411,2.38277623266e-05,1793244802900335360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.898762023,634,879,786,805,652,631,652,0.407789079749,-0.00535608388349,0.0697669302654,0.999999907578,0.000219548135715,-0.000368943506841,2.28578980743e-05,1793244802917001984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.307680291,634,879,786,805,652,631,652,0.407263310852,-0.00537988863201,0.0697929014853,0.999999925049,0.000196380241404,-0.000332699190561,2.54461480911e-05,1793244802933668608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.277321641,634,879,786,805,652,631,652,0.406751421789,-0.00539378412468,0.0698074177411,0.999999934228,0.000178965959981,-0.000314350822496,2.64479089892e-05,1793244802950335232
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.85572288,634,879,786,805,652,631,652,0.40625460167,-0.00539692144068,0.0698094976922,0.999999935842,0.000167798201361,-0.000315431539274,2.57272671858e-05,1793244802967001856
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.405785877817,-0.00538946290879,0.0698043339447,0.999999929973,0.000177948951722,-0.000328262780729,2.513167115e-05,1793244802983668736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.008248603,652,631,652,0.405327766707,-0.00537867674488,0.0697971162729,0.999999921439,0.000194925235579,-0.00034426975038,2.45946624073e-05,1793244803000335616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.579030089,652,631,652,0.404956624123,-0.00538110726131,0.0698140031087,0.99999993261,0.000194205924373,-0.000310530110345,2.52190238762e-05,1793244803017002240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.156589224,657.843410776,634,879,786,805.843410776,652,631,652,0.404589938805,-0.00538131187961,0.0698297261193,0.999999941578,0.000194582440695,-0.000279872522006,2.55490862889e-05,1793244803033668864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.753193662,657.246806338,634,879,786,805.246806338,652,631,652,0.404235778306,-0.00537526173191,0.0698421787884,0.999999946827,0.000198038229138,-0.000257875482009,2.50521695118e-05,1793244803050335232
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.660336315,657.339663685,634,879,785.660336315,805,652,631,652,0.403895618173,-0.00537174807227,0.0698441861135,0.999999946925,0.000202983269027,-0.00025369132331,2.42475075189e-05,1793244803067001856
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.081016846,657.918983154,634,879,785.081016846,805,652,631,652,0.40356533627,-0.00537002407747,0.0698388235388,0.999999943552,0.000208979076719,-0.000262075362764,2.32257104221e-05,1793244803083668480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.490699905,805,652,631,652,0.403263664928,-0.00536919837447,0.0698279108891,0.999999939321,0.000205631780321,-0.000280331163095,2.20774369703e-05,1793244803100335104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.062048155,652,630.937951845,652,0.402971276885,-0.00536802540683,0.0698167410598,0.999999934597,0.000201900817486,-0.00029933389111,2.10184249767e-05,1793244803117001472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.640618724,652,630.359381276,652,0.402717445048,-0.00536274582677,0.0698109420811,0.999999929808,0.000207621439399,-0.000311193508304,2.08736532112e-05,1793244803133668096
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.77501824,745,714,680,657.77501824,634,879,786.22498176,805.77501824,652,630.22498176,652,0.402477317848,-0.00535943200187,0.0698057344841,0.999999926339,0.000209686527985,-0.000320798279169,2.10135586738e-05,1793244803150334976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.181157973,745,714,680,657.181157973,634,879,786.818842027,805.181157973,652,630.818842027,652,0.402259660698,-0.00535934121578,0.0698014965129,0.99999992523,0.000205758029403,-0.000326706018797,2.1620218929e-05,1793244803167001856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.402052822,745,714,680,657.402052822,634,879,786.597947178,805,651.597947178,631,652,0.402069450389,-0.00535797259262,0.0697996466943,0.999999923593,0.000207068823046,-0.000330780583366,2.27991501605e-05,1793244803183668480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.980589023,745,714,680,657.980589023,634,879,786.019410977,805,651.019410977,631,652,0.401891288007,-0.00535604305558,0.0697988451685,0.999999921719,0.000210679433543,-0.000334050465801,2.42292830518e-05,1793244803200334848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,651.551668745,631,652,0.401748275762,-0.00535433796959,0.069798455329,0.999999921316,0.000214846282068,-0.000332574889384,2.45765538595e-05,1793244803217001472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401612934638,-0.00535282228935,0.0697981818598,0.999999920106,0.000223532410351,-0.000330565235968,2.33996357043e-05,1793244803233667840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.401501204518,-0.00535197134313,0.0697982820127,0.999999915405,0.000248689141547,-0.000327203774099,1.67815415353e-05,1793244803250334464
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.306578953,658,634,878.693421047,786,805,652,630.693421047,652,0.401399678392,-0.0053547701096,0.06979840487,0.99999991661,0.000246256851526,-0.000325562933597,1.21081703713e-05,1793244803267001344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.886385635,658,634,878.113614365,786,805,652,630.113614365,652,0.401307246223,-0.00536082155444,0.0697985479619,0.999999922965,0.000219236813342,-0.000325455536651,9.16796571124e-06,1793244803283668224
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.540862563,658,634,878,786,805,652,630,652,0.401235864188,-0.00536009779791,0.0697991194485,0.999999923985,0.000216165447046,-0.000324360701123,9.60456169062e-06,1793244803300334848
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.968756645,634,878.031243355,786,805.031243355,652,630.031243355,652,0.401170517963,-0.00535771744411,0.0697997984949,0.999999923795,0.000218865367736,-0.000323094521093,1.08264857385e-05,1793244803317001728
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.377406804,634,878.622593196,786,805.622593196,652,630.622593196,652,0.401121409202,-0.00535523969503,0.0698005341382,0.999999923461,0.000220396905068,-0.000323070719223,1.13739498766e-05,1793244803333668352
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.790546706,714,680,657.209453294,634,879,786,805.790546706,652,631,652,0.401079860508,-0.00535404953836,0.0698026865167,0.999999924208,0.000221569837082,-0.000319913587916,1.21241943025e-05,1793244803350334976
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.211606811,714,680,657.788393189,634,879,786,805.211606811,652,631,652,0.401051648173,-0.0053551307625,0.0698073380904,0.999999926814,0.000222110170324,-0.000311229099063,1.32321537377e-05,1793244803367001344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.364191375,714,680,658,634,879,785.635808625,805,652,630.635808625,652,0.401029098111,-0.00535496990129,0.0698109156284,0.999999928708,0.000222057089185,-0.000305099743044,1.37760175893e-05,1793244803383667968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.938179795,714,680,658,634,879,785.061820205,805,652,630.061820205,652,0.401009809871,-0.00535409352122,0.0698138744549,0.999999930202,0.000221662164243,-0.000300442302776,1.3994927154e-05,1793244803400334592
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.682789141,658,634,879,786,805,652,631,652,0.400977470563,-0.00535231358783,0.0698173144631,0.999999931397,0.000223072557404,-0.000295367159003,1.42365242559e-05,1793244803450335232
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.847903972,680,658,634,879,785.152096028,805,652,631,652,0.400975049596,-0.00535706132938,0.0698217795013,0.999999934661,0.000218349745763,-0.000287742476923,1.43086225271e-05,1793244803483668224
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.575486239,680,658,634,879,785.424513761,805,652,631,652,0.400974149958,-0.00535666276057,0.0698232907631,0.99999993541,0.00021762393836,-0.000285681626418,1.433238054e-05,1793244803500334848
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41e89a45121c1b9745c614197dcc6fe19f783497
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a74d0f59658d5a62fe21a0dbdc362ba547424322
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a141d15a933a1fb8789ae35796cf802f09ec537cce5ea31f09ebe66beefd99
+size 25791015
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbc8842d1b4985c41665f726e60f685301cb9bd1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
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+13,0.216666667,BASELINE,764.529056727,745,714,680,658,634,879,786,805.470943273,652,631,652,0.400974698659,-0.00535645861415,0.0698326360375,0.999999939505,0.000218329526483,-0.000270422546232,1.39324817927e-05,1793244804192942080
+14,0.233333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400973835332,-0.0053560753674,0.0698321228325,0.99999993931,0.000218125069662,-0.000271303825847,1.39826091127e-05,1793244804209608960
+15,0.250000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975605117,-0.00535651099025,0.0698335578421,0.999999939827,0.000218356230338,-0.000269208846794,1.39102805677e-05,1793244804226275584
+16,0.266666667,BASELINE,765,745,714,680,658,634,879,786,805,652.275753442,631,652,0.400976727138,-0.00535722134516,0.0698341109492,0.999999940314,0.000217654955062,-0.000267961417533,1.39294762841e-05,1793244804242941952
+17,0.283333333,BASELINE,765,745,714,680,658,634,879,786,805,652.851238582,631,652,0.400977145068,-0.00535823032154,0.0698337054677,0.999999940772,0.000215940163462,-0.000267635237237,1.40481547971e-05,1793244804259608576
+18,0.300000000,BASELINE,765,744.560812812,714,680,658,634,879,786,805,652.560812812,631,652.439187188,0.400976663287,-0.00535622571678,0.0698335266534,0.9999999402,0.000218122170661,-0.0002680112931,1.38864729078e-05,1793244804276274944
+19,0.316666667,BASELINE,765.030783607,744.030783607,714,680,658,634,879,786,805,652,631,652.969216393,0.400975884504,-0.00535344107316,0.0698334372557,0.999999939321,0.000221412881346,-0.000268605646051,1.36449620511e-05,1793244804292941568
+20,0.333333333,BASELINE,765.609961489,744.609961489,714,680,658,634,879,786,805,652,631,652.390038511,0.400975402311,-0.00535547586401,0.0698335330854,0.999999939543,0.000220254048878,-0.000268727709762,1.37224783849e-05,1793244804309608448
+21,0.350000000,BASELINE,765.813002238,745,714,680,658,634,879,786,805,652,631,652,0.400974678502,-0.00535690450455,0.0698332577688,0.999999939667,0.000218851854726,-0.000269407656488,1.37579285076e-05,1793244804326275072
+22,0.366666667,BASELINE,765.240382409,745,714,680,658,634,879,786,805,652,631,652,0.40097345644,-0.00535708315697,0.0698322170839,0.999999939588,0.000216947806387,-0.000271238055472,1.37066307415e-05,1793244804342942208
+23,0.383333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.40097360502,-0.00535730762338,0.0698320305636,0.999999939557,0.000216789875228,-0.000271476569592,1.37558501293e-05,1793244804359609088
+24,0.400000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400974745296,-0.00535756523741,0.0698324620537,0.999999939562,0.000217895305352,-0.000270563313536,1.38777963033e-05,1793244804376275200
+25,0.416666667,BASELINE,765,745,714,680,658,634.498145793,879,786,805,652,630.501854207,652,0.400974099935,-0.00535668428912,0.0698321285694,0.999999939092,0.000219629201498,-0.000270908349585,1.36856709226e-05,1793244804392941824
+26,0.433333333,BASELINE,765,745,714,680,658,634.91091273,879,786.08908727,805.08908727,652,630.08908727,652,0.400973241187,-0.00535584961706,0.0698318234427,0.999999938706,0.000220844459931,-0.000271353726517,1.35206200345e-05,1793244804409608448
+27,0.450000000,BASELINE,765,745,714,680,658,634.335152907,879,786.664847093,805.664847093,652,630.664847093,652,0.400973088279,-0.00535646108775,0.0698324750088,0.99999993929,0.000218567763108,-0.000271028421113,1.38326560497e-05,1793244804426276096
+28,0.466666667,BASELINE,765,745,714,680,658,634,879,786.759466422,805.759466422,652,631,652,0.40097337471,-0.00535704839394,0.0698328640803,0.999999939594,0.000217708531839,-0.000270588372615,1.40074626657e-05,1793244804442943232
+29,0.483333333,BASELINE,765,745,714,680,658,634,879,786.183882129,805.183882129,652,631,652,0.400974273119,-0.00535760204022,0.0698328875103,0.999999939513,0.00021882375622,-0.000269988493,1.39911158745e-05,1793244804459609600
+30,0.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975187271,-0.00535714659754,0.069833487165,0.99999993998,0.000218576505018,-0.000268472771702,1.3628712235e-05,1793244804476276224
+31,0.516666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976108812,-0.0053562174444,0.0698343573248,0.999999940701,0.000217689648207,-0.000266527114314,1.31038543898e-05,1793244804492942592
+32,0.533333333,BASELINE,765,745,714,680,658,634.569399276,879,786,805,652,631,652,0.400974495577,-0.00535756272346,0.0698328598923,0.999999940234,0.000216586092635,-0.000269139088945,1.36668151251e-05,1793244804509608960
+33,0.550000000,BASELINE,765,745,714,680,658,634.850302261,879,786,805.149697739,652,631,652,0.400973563363,-0.00535859149117,0.0698320610253,0.999999939974,0.000215762758588,-0.000270736848618,1.41179979544e-05,1793244804526275328
+34,0.566666667,BASELINE,765,745,714,680,658,634.273552765,879,786,805.726447235,652,631,652,0.400974728151,-0.00535857895364,0.0698333990402,0.9999999404,0.000215752013282,-0.000269164014316,1.41841234088e-05,1793244804542941952
+35,0.583333333,BASELINE,765,745,714,680,658,634,879,786,805.698466416,652,631,652,0.400974771345,-0.00535865004905,0.0698339577527,0.999999940542,0.00021563430905,-0.000268732536673,1.4165526929e-05,1793244804559608320
+36,0.600000000,BASELINE,765,745,714,680,658,634,879,786,805.124880541,652,631,652,0.400973802605,-0.00535879660053,0.0698338133564,0.999999940429,0.00021542010339,-0.000269330823728,1.40704918857e-05,1793244804576275200
+37,0.616666667,BASELINE,765,745,714,680,658,634,879,786,805.463283893,652,631,652,0.400973742252,-0.00535826788684,0.0698330243335,0.999999939712,0.000217629982192,-0.000270225978998,1.38505412506e-05,1793244804592942080
+38,0.633333333,BASELINE,765,745,714,680,658.054057955,634,879,786.054057955,805.945942045,652,631,652,0.400974019168,-0.00535767979489,0.0698322376994,0.999999938984,0.000220035154417,-0.000270980011361,1.36244014683e-05,1793244804609608704
+39,0.650000000,BASELINE,765,745,714,680,658.630833039,634,879,786.630833039,805.369166961,652,631,652,0.400975112713,-0.00535833479163,0.0698332089624,0.999999939853,0.00021780511554,-0.000269570524732,1.36745838611e-05,1793244804626275584
+40,0.666666667,BASELINE,765,745,714,679.792667758,658.792667758,634,879,786.792667758,805,652,631,652,0.400974982785,-0.00535871582548,0.0698333080487,0.99999994004,0.000216953948946,-0.000269554528763,1.38288176545e-05,1793244804642942720
+41,0.683333333,BASELINE,765,745,714,679.216659158,658.216659158,634,879,786.216659158,805,652,631,652,0.400972677289,-0.0053586097009,0.0698318562378,0.99999993902,0.00021855468098,-0.000272016425643,1.41680747249e-05,1793244804659609600
+42,0.700000000,BASELINE,765.352736312,745,714,679.352736312,658,634,879,786.352736312,805,652,631,651.647263688,0.400973280398,-0.00535772470413,0.0698327328049,0.999999939381,0.000218923925001,-0.000270392136119,1.41045451104e-05,1793244804676276224
+43,0.716666667,BASELINE,765.91814457,745,714,679.91814457,658,634,879,786.91814457,805,652,631,651.08185543,0.400975637163,-0.00535637010936,0.0698350131986,0.999999940564,0.000218550679625,-0.000266304201051,1.37981671437e-05,1793244804692942592
+44,0.733333333,BASELINE,765.485154044,745,714,680,658,634,879,786.485154044,805.514845956,652,631,651.514845956,0.400974772253,-0.0053577571793,0.0698340359027,0.999999940637,0.000215803757258,-0.000268269301976,1.36606499111e-05,1793244804709608704
+45,0.750000000,BASELINE,765,744.88795535,714,680,658,634,879,786,805.88795535,652,630.88795535,652,0.400973810426,-0.00535911846301,0.0698329362534,0.999999940499,0.000213711742631,-0.000270448618275,1.36487348245e-05,1793244804726275584
+46,0.766666667,BASELINE,765,744.310686908,714,680,658,634,879,786,805.310686908,652,630.310686908,652,0.400974710599,-0.00535844564746,0.0698336183072,0.999999940321,0.000216007373896,-0.000269262892461,1.403964906e-05,1793244804742942464
+47,0.783333333,BASELINE,764.735553474,744.264446526,714,680,658,634,879,786,805,652,630.264446526,652,0.400975117577,-0.00535832349804,0.0698338226312,0.999999940315,0.000216748795435,-0.000268680293193,1.41587115252e-05,1793244804759609088
+48,0.800000000,BASELINE,764.162908207,744.837091793,714,680,658,634,879,786,805,652,630.837091793,652,0.400974949762,-0.0053588431214,0.0698334701859,0.999999940517,0.000215678866259,-0.000268800606555,1.39609448696e-05,1793244804776275456
+49,0.816666667,BASELINE,764.424071255,745,714,680.424071255,658,634,878.575928745,786,805,652,631,652,0.400975046836,-0.00535798113125,0.069833648438,0.99999994034,0.000216605014551,-0.000268723669887,1.38025223066e-05,1793244804792942080
+50,0.833333333,BASELINE,765,745,714,680.983628688,658,634,878.016371312,786.016371312,805.016371312,652,631,652,0.400975208185,-0.00535665040574,0.0698340003109,0.999999940012,0.000218273914414,-0.000268597497728,1.36710092138e-05,1793244804809608704
+51,0.850000000,BASELINE,765,745,714,680.404344099,658,634,878.595655901,786.595655901,805.595655901,652,631,652,0.400973958323,-0.00535809046081,0.0698330668995,0.99999993979,0.000218193594062,-0.000269474982767,1.3926887032e-05,1793244804826275328
+52,0.866666667,BASELINE,765,744.826303232,714,680,658,634,879.173696768,786.826303232,805.826303232,652,631,651.826303232,0.400973107689,-0.00535869767412,0.0698325190727,0.999999939735,0.000217979625107,-0.000269846309388,1.40388038435e-05,1793244804842941952
+53,0.883333333,BASELINE,765,744.251137043,714,680,658,634,879.748862957,786.251137043,805.251137043,652,631,651.251137043,0.400973179803,-0.0053573799206,0.069832862457,0.999999940067,0.000217456751001,-0.000269047740108,1.38179801823e-05,1793244804859608320
+54,0.900000000,BASELINE,765,744.324560737,714,680,658,634,879.350878525,786,805,652,630.675439263,651.324560737,0.400973233958,-0.00535680902496,0.0698327054894,0.999999939766,0.000218204029185,-0.000269566125605,1.3719519085e-05,1793244804876275200
+55,0.916666667,BASELINE,765,744.900670498,714,680,658,634,878.198659003,786,805,652,630.099329502,651.900670498,0.400973274194,-0.00535681697749,0.0698321607268,0.999999938971,0.000219935731975,-0.00027110520973,1.37158944335e-05,1793244804892942080
+56,0.933333333,BASELINE,764.51150275,745,714,680,657.51150275,634,878.48849725,786,805,652,630.48849725,652,0.40097272742,-0.00535762011965,0.0698319513018,0.999999938917,0.000219292085369,-0.000271819167146,1.38365035307e-05,1793244804909608448
+57,0.950000000,BASELINE,764.077193691,745,714,680,657.077193691,634,879,786,805,652,631,652,0.400972417214,-0.00535825206583,0.0698320125261,0.999999939116,0.000218267292907,-0.00027190793526,1.39248445253e-05,1793244804926275072
+58,0.966666667,BASELINE,764.655685413,745,714,680,657.655685413,634,879,786,805,652,631,652,0.400974437464,-0.00535669642689,0.0698333776679,0.999999939954,0.000217981001901,-0.000269053041684,1.36355563487e-05,1793244804942941696
+59,0.983333333,BASELINE,765,745,714,680,658,634,879,786,805.232236268,652,631,652,0.400974764302,-0.00535586737371,0.0698335467172,0.999999939983,0.000218356746347,-0.000268647560086,1.354798637e-05,1793244804959608576
+60,1.000000000,BASELINE,765,745,714,680,658,634,879,786,805.805933519,652,631,652,0.400972601287,-0.00535610663185,0.0698319571312,0.999999938821,0.000219705892871,-0.000271843490659,1.37570060871e-05,1793244804976276224
+61,1.016666667,BASELINE,765,745,714,680,658,634,879,786,805.610421541,652,631,652,0.40097270173,-0.00535627676619,0.0698325272823,0.99999993897,0.000219658970077,-0.000271323454229,1.38949869573e-05,1793244804992942592
+62,1.033333333,BASELINE,765,745,714,680,658,634,879,786,805.021691398,652,631,652,0.400973959248,-0.00535641156456,0.0698342014867,0.999999939789,0.000218898379519,-0.000268903823129,1.39966529065e-05,1793244805009608448
+63,1.050000000,BASELINE,765,745,714,680,658,634,879,785.4413838,805.5586162,652,631,652,0.400975736463,-0.00535723019765,0.0698349426295,0.999999940297,0.00021853577465,-0.00026729780285,1.41652013924e-05,1793244805026275584
+64,1.066666667,BASELINE,765,745,714,679.862362423,657.862362423,634,879,785.137637577,805.862362423,652,631,652,0.400976671517,-0.00535780642044,0.0698351967679,0.999999940465,0.000218552072093,-0.000266650313239,1.42514427779e-05,1793244805042942464
+65,1.083333333,BASELINE,765,745,714,679.28641107,657.28641107,634,879,785.71358893,805.28641107,652,631,652,0.400974861357,-0.00535752736987,0.0698340136831,0.999999939592,0.000219726519893,-0.00026895619771,1.4067425348e-05,1793244805059608576
+66,1.100000000,BASELINE,765,745,714,679.287130073,657.287130073,634,879,786,805,652,630.712869927,652,0.400974642108,-0.00535746033033,0.0698338997257,0.999999939674,0.0002193899156,-0.000268937609746,1.38907664299e-05,1793244805076274944
+67,1.116666667,BASELINE,765,745,714,679.85828702,657.85828702,634,879,786,805,652,630.14171298,652,0.400975996577,-0.00535760301051,0.0698348433411,0.999999940697,0.000217558590054,-0.000266619671271,1.37213865062e-05,1793244805092941824
+68,1.133333333,BASELINE,764.551226481,745,714,679.551226481,658,634,879,786,805,652,630.448773519,652,0.400975367701,-0.00535685828338,0.0698343795695,0.999999940442,0.000217480840701,-0.000267658864407,1.33099849091e-05,1793244805109608448
+69,1.150000000,BASELINE,764.088311909,745,714,679.044155954,658,634,879,786,805,652,631,652,0.400974176665,-0.00535597011077,0.0698335183579,0.999999939804,0.00021801580289,-0.00026962079957,1.28950522937e-05,1793244805126275072
+70,1.166666667,BASELINE,765.243260382,745,714,679.621630191,658,634,879,786,805,652,631,652,0.400974100746,-0.0053568863004,0.0698334662099,0.999999939664,0.000218961971926,-0.000269347279163,1.34020885615e-05,1793244805142941696
+71,1.183333333,BASELINE,765.802197589,745,714,680,658,634,879,785.802197589,805,652,631,652,0.400974189876,-0.00535735845793,0.0698336133171,0.999999939534,0.000219919326921,-0.000269030681843,1.37473261603e-05,1793244805159608320
+72,1.200000000,BASELINE,765.228499568,745,714,680,658,634,879,785.228499568,805,652,631,652,0.400974592657,-0.00535698679515,0.0698341390808,0.999999939425,0.000220897939418,-0.000268632222875,1.37850882756e-05,1793244805176274944
+73,1.216666667,BASELINE,765.353432791,745,714,680,658,634,878.646567209,785.353432791,805,652,631,652,0.400975421985,-0.00535667599258,0.0698349358778,0.999999939904,0.000219961557338,-0.000267620245944,1.37248910096e-05,1793244805192941824
+74,1.233333333,BASELINE,765.940815728,745,714,680,658,634,878.059184272,785.940815728,805,652,631,652,0.400976533661,-0.00535640547564,0.0698359120816,0.999999940767,0.000217757569953,-0.00026620215896,1.35998508291e-05,1793244805209608448
+75,1.250000000,BASELINE,765.476179492,745,714,680,658,634,878.523820508,786,805.523820508,652,631,652,0.40097680188,-0.00535602347822,0.0698361138801,0.999999940815,0.00021840413492,-0.000265496443625,1.34394514922e-05,1793244805226275072
+76,1.266666667,BASELINE,765,744.894969469,714,680,658,634,878.894969469,786,805.894969469,652,631,652,0.40097679845,-0.0053556538166,0.0698360526968,0.999999940604,0.000219609423775,-0.000265304444826,1.33400826509e-05,1793244805242941696
+77,1.283333333,BASELINE,765,744.319599776,714,680,658,634,878.319599776,786,805.319599776,652,631,652,0.400976001767,-0.0053553953337,0.0698352024233,0.999999939632,0.000221886423037,-0.000267055482917,1.35317577641e-05,1793244805259608320
+78,1.300000000,BASELINE,765,744.255816669,714,679.744183331,658.255816669,634,878.255816669,786,805,652,631,652,0.400975449308,-0.00535568301628,0.0698345411819,0.999999939441,0.000221819068888,-0.000267828751406,1.34783173752e-05,1793244805276274944
+79,1.316666667,BASELINE,765,744.831291491,714,679.168708509,658.831291491,634,878.831291491,786,805,652,631,652,0.40097520202,-0.00535665316513,0.0698341161477,0.999999940226,0.000218822305461,-0.000267380238452,1.31185905643e-05,1793244805292941568
+80,1.333333333,BASELINE,765,745,714,679.417540273,658.582459727,634,879,786,805,652,631,652,0.400975776141,-0.00535711480171,0.0698345810356,0.999999940429,0.000218941987084,-0.000266507049946,1.34340798587e-05,1793244805309608192
+81,1.350000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400976662987,-0.00535734726673,0.069835387808,0.999999940384,0.00022033744317,-0.000265493113707,1.40191808603e-05,1793244805326275072
+82,1.366666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400975577768,-0.005356291511,0.0698342749047,0.999999939945,0.000220548750144,-0.000266975351598,1.38680416118e-05,1793244805342941696
+83,1.383333333,BASELINE,765,744.837854382,714,680,658,634.162145618,879,786,805,652,631,652,0.400974759625,-0.00535569761071,0.0698335916431,0.999999939691,0.000220586071858,-0.000267900041675,1.37280445906e-05,1793244805359608320
+84,1.400000000,BASELINE,765,744.262937433,714,680,658,634.737062567,879,786,805,652,631,652,0.400974621374,-0.00535627944771,0.0698340021126,0.999999939915,0.000220180482311,-0.000267405392116,1.3616412115e-05,1793244805376274944
+85,1.416666667,BASELINE,765,744.319433129,714,680,658,634.680566871,879,786,805,652,631,652,0.400975608196,-0.00535724442463,0.069835126736,0.999999940657,0.00021862413219,-0.000265906330641,1.35389336738e-05,1793244805392941568
+86,1.433333333,BASELINE,765,744.908085588,714,680,658,634.091914412,879,786,805,652,631,652,0.400977543232,-0.00535853231316,0.0698368532507,0.999999941828,0.000216097917158,-0.000263560747407,1.34902403759e-05,1793244805409608192
+87,1.450000000,BASELINE,765,744.511440985,714,680,658,634,879,786,805,652,631,652,0.400976947262,-0.00535845444737,0.0698364111908,0.999999941438,0.000216885597888,-0.000264390415474,1.35058338573e-05,1793244805426275072
+88,1.466666667,BASELINE,765,744.067445555,714,680,658,634,879,786,805,652,631,652,0.400976160292,-0.00535822189071,0.0698357400231,0.999999940879,0.000218091399447,-0.000265504358369,1.35915901185e-05,1793244805442941696
+89,1.483333333,BASELINE,765,744.64577557,714,680,658,634,879,786,805,652,631,652,0.400977474002,-0.0053587318341,0.0698363729028,0.999999941245,0.000217819597585,-0.00026432117011,1.4118708539e-05,1793244805459608320
+90,1.500000000,BASELINE,764.777874377,745,714,680,658,634,878.777874377,786,805,652,630.777874377,652,0.400977177934,-0.00535820429757,0.0698361324737,0.999999940934,0.000218857367152,-0.00026462441983,1.43655385555e-05,1793244805476275200
+91,1.516666667,BASELINE,764.204653933,745,714,680,658,634,878.204653933,786,805,652,630.204653933,652,0.400974337429,-0.00535603690592,0.0698345116807,0.999999939547,0.000221965063389,-0.000267277154011,1.41693408083e-05,1793244805492942592
+92,1.533333333,BASELINE,764.37899621,745,714,680,658,634,878.37899621,786,805,652,630.37899621,652,0.400974162313,-0.00535542594912,0.0698342615915,0.999999939278,0.000222731902592,-0.000267657105793,1.39428812301e-05,1793244805509609472
+93,1.550000000,BASELINE,764.968437707,745,714,680,658,634,878.968437707,786,805,652,630.968437707,652,0.400975467206,-0.00535567923396,0.0698347726132,0.999999939636,0.000222198934019,-0.00026677504957,1.36996181418e-05,1793244805526275840
+94,1.566666667,BASELINE,765,745,714,679.451253263,658,634,878.451253263,786,805,652,630.451253263,652,0.400975695382,-0.00535755121403,0.0698351355096,0.999999940435,0.000219483010828,-0.000266023368704,1.37602867176e-05,1793244805542942208
+95,1.583333333,BASELINE,765,745,714,679.127717988,658.127717988,634,878,785.872282012,805,652,630.127717988,652,0.400975928666,-0.00535882395135,0.0698354140954,0.999999941057,0.000217313635423,-0.000265464253702,1.37776710111e-05,1793244805559608576
+96,1.600000000,BASELINE,765,745,714,679.703806801,658.703806801,634,878,785.296193199,805,652,630.703806801,652,0.400976393735,-0.00535767147024,0.0698354261183,0.999999940996,0.000217496556396,-0.000265555271742,1.35827345404e-05,1793244805576275200
+97,1.616666667,BASELINE,765,745,714,680,658.714499933,634,878.285500067,785.285500067,805,652,631,652,0.40097647621,-0.00535713777461,0.0698355095639,0.999999941057,0.000217356377524,-0.000265447100161,1.34180578096e-05,1793244805592941824
+98,1.633333333,BASELINE,765,745,714,680,658.126875916,634,878.873124084,785.873124084,805,652,631,652,0.400976153813,-0.00535725889471,0.0698356685909,0.999999941248,0.000216874285583,-0.000265128140686,1.32854027718e-05,1793244805609608192
+99,1.650000000,BASELINE,765,745,714,680,658.453755962,634,878.546244038,786,805,652,631,652,0.40097616443,-0.00535698304576,0.069835785315,0.999999940978,0.000218172113308,-0.000265070072504,1.3494308216e-05,1793244805626275328
+100,1.666666667,BASELINE,765,745,714,680,658.967630812,634,878.032369188,786.032369188,805,652,631,652,0.400976167688,-0.00535665447845,0.0698357893367,0.999999940569,0.000219846481416,-0.000265215025568,1.3773135637e-05,1793244805642942464
+101,1.683333333,BASELINE,765,745,714,680,658.390586275,634,878.609413725,786.609413725,805,652,631,652,0.400974504022,-0.00535727822934,0.0698340929313,0.999999939997,0.000219609390586,-0.000267567336754,1.36458724821e-05,1793244805659609344
+102,1.700000000,BASELINE,765,745,714,680,658,634,878.81482568,786.81482568,805.18517432,652,631,652,0.400973883199,-0.00535751749545,0.0698332830381,0.999999939811,0.000219245522295,-0.000268563975115,1.35567893683e-05,1793244805676275712
+103,1.716666667,BASELINE,765,745,714,680,658,634,878.241754715,786.241754715,805.758245285,652,631,652,0.400975446888,-0.00535695135629,0.0698343301795,0.999999940442,0.00021861608507,-0.000266720797482,1.35476844767e-05,1793244805692942080
+104,1.733333333,BASELINE,765,745,714.342042318,680,658,634,878.342042318,786,805.657957682,652,631,652,0.400975778185,-0.00535696537596,0.0698349659677,0.999999940564,0.000219052047782,-0.000265897012022,1.37027150423e-05,1793244805709608704
+105,1.750000000,BASELINE,765,745,714.933666006,680,658,634,878.933666006,786,805.066333994,652,631,652,0.40097521023,-0.00535740272574,0.0698353015998,0.999999940315,0.000220265411241,-0.000265817056246,1.39775119345e-05,1793244805726275328
+106,1.766666667,BASELINE,765,745,714.487045016,679.487045016,658,634,879,786,805,652,631,652,0.400974184351,-0.00535729352731,0.0698344821142,0.99999994006,0.000219543475233,-0.000267374442953,1.38199902265e-05,1793244805742941952
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400974569985,-0.00535713290798,0.0698342707676,0.999999939774,0.000220876927086,-0.000267372750843,1.3334992864e-05,1793244805785773568
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.400975590162,-0.00535769857728,0.0698349106355,0.999999940369,0.000218923475677,-0.000266747987245,1.33829623123e-05,1793244805802441216
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,651.835948525,0.400976250247,-0.00535790876518,0.069835334517,0.999999940821,0.000217468607039,-0.000266244361704,1.33858128911e-05,1793244805819108352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,651.255566134,0.400975996488,-0.00535721681016,0.069835210267,0.999999940916,0.000217279044631,-0.000266048160998,1.32741605157e-05,1793244805835774464
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.675930948,658,634,879,786.324069052,805,652,630.675930948,651,0.400976685968,-0.00535714647841,0.0698359917221,0.999999941158,0.00021767723386,-0.00026480485739,1.33809390644e-05,1793244805852440832
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.0968837,658,634,879,786.9031163,805,652,630.0968837,651,0.400978117593,-0.00535756524117,0.069837485788,0.999999941512,0.000218537867294,-0.000262737691077,1.36595795201e-05,1793244805869107200
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.480006624,679.960013248,658.480006624,634.480006624,878.519993376,787,805,652,630.480006624,651.480006624,0.400977209132,-0.00535821824827,0.0698366692513,0.999999941398,0.000217166610186,-0.000264300217121,1.37386935938e-05,1793244805885773824
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.942677806,680.942677806,658.942677806,634.942677806,878.057322194,786.942677806,805.057322194,652,631,652,0.400976259952,-0.00535879787556,0.06983564128,0.999999941238,0.00021559150512,-0.000266187298716,1.37614026928e-05,1793244805902440448
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.357454596,680.357454596,658.357454596,634.357454596,878.642545404,786.357454596,805.642545404,652,631,652,0.400979266072,-0.0053582682553,0.06983694187,0.999999941581,0.000216269174066,-0.00026434663263,1.3633878759e-05,1793244805919107328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.77342676,658,634,879,786,805.77342676,652,631,652,0.400990183793,-0.00535810130006,0.0698419901186,0.999999943435,0.000217087777459,-0.000256541906433,1.37765020899e-05,1793244805935774208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.191274968,658,634,879,786,805.191274968,652,631,652,0.401013517786,-0.00535850350255,0.0698529198518,0.999999947457,0.000218127559857,-0.000239377328958,1.43430880007e-05,1793244805952441088
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.386158253,658,634,879,786.386158253,805,652,631,652,0.401055831257,-0.00536013725193,0.0698686075875,0.999999953799,0.00021781453659,-0.000211493656193,1.51292274084e-05,1793244805969107456
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.961282499,658,634,879,786.961282499,805,652,631,652,0.40110743231,-0.00536237365707,0.069886623646,0.999999960455,0.000216839519704,-0.000178364607649,1.60228050465e-05,1793244805985773824
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.463172693,805,652,631,652,0.401168079876,-0.00536286448129,0.0698993769208,0.999999962974,0.000215805255762,-0.000165031230735,1.56770077146e-05,1793244806002440192
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.885351402,658,634,879.114648598,786,805,652,631,652,0.401231796781,-0.00536343940637,0.0699098407118,0.999999965026,0.000214664155279,-0.000153757310439,1.50458232202e-05,1793244806019106816
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.298274399,658,634,879.701725601,786,805,652,631,652,0.401305470749,-0.0053648800658,0.0699124356056,0.999999966677,0.000213100438679,-0.000145081949604,1.3607277399e-05,1793244806035773440
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.286649755,658,634,879.713350245,786,805,652,631,652,0.401388896557,-0.00536574822632,0.0699131724147,0.999999967348,0.000212300924507,-0.000141760228319,1.16754564115e-05,1793244806052440064
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.869350418,658,634,879.130649582,786,805,652,631,652,0.40148239403,-0.00536602511181,0.0699119901998,0.99999996706,0.00021229067615,-0.00014396772858,9.23418256955e-06,1793244806069106944
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.554547449,786,805,652,631,651.554547449,0.401597096808,-0.00536901733101,0.0699106126324,0.999999966931,0.000210820496203,-0.000147119060474,6.99068635477e-06,1793244806085773824
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.020094907,745,714,680,658,634,878.020094907,786,805,652,631,651.020094907,0.40171887393,-0.00537274228823,0.0699093574795,0.999999966888,0.000208848165423,-0.000150278565355,4.77426361561e-06,1793244806102440960
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.607362354,745,714,680,658,634,878.607362354,786,805,652,631,651.607362354,0.401867342927,-0.00537499859248,0.0699131509972,0.999999968412,0.000204611971575,-0.000145969575998,1.70863682451e-06,1793244806119107328
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.808034538,744.808034538,714,680,658,634,878.808034538,786,805.191965462,652,631,652,0.402027859561,-0.00537709618252,0.0699167748172,0.999999969994,0.000200212847148,-0.000141152424604,-1.76919513758e-06,1793244806135773952
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.22880642,744.22880642,714,680,658,634,878.22880642,786,805.77119358,652,631,652,0.402212680552,-0.00537887358926,0.0699200562963,0.99999997172,0.000195485034277,-0.000135310130058,-6.07859125851e-06,1793244806152440576
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.349364594,714,680,658,634,878.698729188,786,805.650635406,652,631,652,0.402416784528,-0.00538276731864,0.0699218587283,0.999999973471,0.00018867654258,-0.000131704829392,-1.06486505119e-05,1793244806169107200
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.926845433,714,680,658,634,879.853690866,786,805.073154567,652,631,652,0.402633479273,-0.00538804289281,0.0699226954226,0.999999975197,0.000180509479303,-0.000129560164548,-1.53889091654e-05,1793244806185774080
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+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.403168868166,-0.00539831535434,0.0699320449742,0.999999981153,0.000160128995874,-0.000106508952634,-2.66107251254e-05,1793244806219107328
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.404114407585,-0.0054105342904,0.0699485830241,0.999999985641,0.000143891530016,-7.86605899497e-05,-4.27332880889e-05,1793244806269107712
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.986463294,634,878.013536706,786,805,652,631,652,0.404859927634,-0.00542647556475,0.0699561902897,0.999999995476,-3.10669854405e-05,-7.22549092294e-05,-5.35065270084e-05,1793244806302440704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.560081844,745,714,680,658.439918156,634,878.560081844,786,805.560081844,652,631,652,0.405286968221,-0.00542610005184,0.0699599556526,0.999999995843,5.44399180353e-05,-6.28075452227e-05,-3.74962789476e-05,1793244806319107072
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.861713062,745,714,680,658,634,879,786,805.861713062,652,631,652,0.405719426649,-0.0054268271766,0.0699622142785,0.999999990927,0.000119341785638,-5.65448047473e-05,-2.65696673321e-05,1793244806335773440
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.268323723,745,714,680,658,634,879,786,805.268323723,652,631,652,0.406165924111,-0.00543186967561,0.0699595367179,0.999999992374,0.000101695072929,-6.12273422721e-05,-3.40660551234e-05,1793244806352440064
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31550806,745,714,680,658.31550806,634,878.68449194,786,805,652,631,652,0.406627917602,-0.00544053210273,0.0699484029324,0.999999992851,7.91176740448e-05,-8.08086306349e-05,-3.88371754036e-05,1793244806369106944
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.89145067,745,714,680,658.89145067,634,878.10854933,786,805,652,631,652,0.407102702261,-0.00545218258198,0.069930288998,0.999999991419,5.24702628809e-05,-0.000112688018833,-4.13587380171e-05,1793244806385774080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.06713413,744.533567065,714,680,658.533567065,634,878.466432935,786,805,652,630.533567065,652,0.407645595474,-0.00546958936551,0.0699250876754,0.999999992138,3.91119735118e-05,-0.000112452985398,-3.93643815721e-05,1793244806402441216
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.041234686,744,714,679.958765314,658.041234686,634,879,785.958765314,805,651.958765314,630,652,0.408210007527,-0.00548883735752,0.0699243884184,0.999999993716,2.64317618758e-05,-0.000102657702021,-3.64890250551e-05,1793244806419108096
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.616587689,744,714,679.383412311,658.616587689,634,879,785.383412311,805,651.383412311,630,652,0.408848266267,-0.00551461815783,0.0699431601502,0.999999997053,-1.74427388001e-05,-6.56366760858e-05,-3.57871426651e-05,1793244806435774208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.396709403,714,679.198354701,658.801645299,634,879,785.198354701,805,651.198354701,630.198354701,652,0.409475969446,-0.00552957146933,0.0699538750138,0.999999997597,-4.0781258089e-05,-4.30180973969e-05,-3.59556112233e-05,1793244806452441088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.585868043,714,679.792934021,658.207065979,634,879,785.792934021,805,651.792934021,630.792934021,652,0.410082587265,-0.00552289626433,0.069948495831,0.999999997808,-2.30980025746e-05,-4.91692157833e-05,-3.7862654746e-05,1793244806469108224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.624679398,714,679.624679398,658.375320602,634,879,786,805.375320602,652,631,652,0.410719278879,-0.00552866543001,0.0699455383371,0.99999999717,-3.2096686193e-05,-5.56913009941e-05,-3.90853981122e-05,1793244806485774848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.04880797,714,679.04880797,658.95119203,634,879,786,805.95119203,652,631,652,0.411372040266,-0.00554108418774,0.0699438748614,0.999999995723,-5.53527409804e-05,-6.24116103922e-05,-3.99424887836e-05,1793244806502441472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.474868548,634,879,786,805.474868548,652,630.474868548,651.474868548,0.412107108399,-0.00555215444757,0.0699659444519,0.999999996835,-6.4727505999e-05,-2.38832216076e-05,-3.9626246764e-05,1793244806519107840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.898126754,679.101873246,658.101873246,634,879,786,805,651.898126754,630.101873246,651.101873246,0.412854644602,-0.00556154860166,0.0699902678726,0.999999996477,-7.2266490997e-05,1.70685132652e-05,-3.91507908938e-05,1793244806535774720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.307069343,679.692930657,658.692930657,634,879,786,805,651.307069343,630.692930657,651.692930657,0.413625451346,-0.00556349391593,0.0700148604944,0.999999995058,-7.71628846196e-05,4.95360337574e-05,-3.84325565358e-05,1793244806552441344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.278375602,680,658.721624398,634,879,786,805,651,630.721624398,652,0.414377124081,-0.0055498848793,0.0700140157741,0.999999996293,-6.51680346205e-05,4.01528413093e-05,-3.94210888556e-05,1793244806569107456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.857751997,680,658.142248003,634,879,786,805,651,630.142248003,652,0.415108107774,-0.00551945730011,0.0699856662752,0.999999998393,-3.49090925752e-05,-1.44825092069e-05,-4.22551064676e-05,1793244806585773824
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.434858032,658.434858032,634,879,785.565141968,805,651,630,652,0.415861713961,-0.00549833719008,0.0699447988897,0.999999995665,-9.82703827236e-06,-8.02901858697e-05,-4.61136696519e-05,1793244806602440448
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.988816981,659,634,879,785.011183019,805,651.011183019,630,652,0.416624780275,-0.00548088237126,0.0699012156334,0.999999987765,1.27342327571e-05,-0.000147607954888,-5.0195779081e-05,1793244806619106816
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.414616789,659,634,879,785.585383211,805,651.585383211,630,652,0.417493496133,-0.00549547274644,0.0699259832711,0.999999992966,-6.80089556829e-06,-0.000107913770513,-4.87471339081e-05,1793244806635773440
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.164278448,634,879,785.835721552,805,651.835721552,630,652,0.418365992284,-0.0055085050356,0.0699521097307,0.99999999626,-2.4992967686e-05,-6.78198435955e-05,-4.74901674516e-05,1793244806652440320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.755371941,634,879,785.244628059,805,651.244628059,630,652,0.419248310036,-0.00551748923015,0.0699817665707,0.999999997764,-3.96956180683e-05,-2.66873405208e-05,-4.6731205455e-05,1793244806669107712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.66120986,634,879,785.33879014,805,651,630.33879014,652,0.420149302698,-0.00552520670654,0.0700071299269,0.9999999976,-4.98929888082e-05,1.37218280028e-05,-4.6071790989e-05,1793244806685774592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.083210962,634,879,785.916789038,805,651,630.916789038,652,0.421063481072,-0.00553202979385,0.0700294617919,0.999999995909,-5.69093266938e-05,5.36202716326e-05,-4.54826638301e-05,1793244806702441216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.49215577,651.49215577,630.50784423,652,0.42194039759,-0.00553110620266,0.0700241813546,0.999999996355,-5.93581375755e-05,3.98140601781e-05,-4.6712373961e-05,1793244806719107584
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.06875919,659,634,879,786,806,652,630.06875919,652,0.422804050944,-0.00552731895974,0.0700054113996,0.999999997056,-5.90663126554e-05,3.6293827603e-06,-4.88441108223e-05,1793244806735773952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.658076239,659,634,879,786,806,652,630.658076239,652,0.423614734008,-0.00551171489985,0.0699196720681,0.999999988575,-4.38412652615e-05,-0.000133599551183,-5.54890951527e-05,1793244806752440576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.756899183,659,634,879,785.756899183,806,651.756899183,630.756899183,652,0.424478002853,-0.00550433009393,0.0698688441762,0.999999975713,-3.83119382512e-05,-0.000208499587172,-6.02880876487e-05,1793244806769107200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.177807175,659,634,879,785.177807175,806,651.177807175,630.177807175,652,0.425413950957,-0.00550830516922,0.0698662675956,0.999999977524,-4.6183127025e-05,-0.000197254477789,-6.25357251519e-05,1793244806785773824
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.601223794,680,659.398776206,634,879,785.398776206,806,651,630.398776206,652,0.426376562919,-0.00551868899501,0.0699107457623,0.999999988121,-5.67066729608e-05,-0.000130526335265,-5.92098041312e-05,1793244806802440448
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.025752007,680,659.974247993,634,879,785.974247993,806,651,630.974247993,652,0.427350989436,-0.00553191250325,0.0699760736332,0.999999995465,-6.84054631394e-05,-3.9213960472e-05,-5.34142689054e-05,1793244806819107072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.547221848,680.547221848,660,634,879,786,805.452778152,651,631,652,0.428303482058,-0.00553413585094,0.0700118817677,0.999999996135,-6.9974658839e-05,1.14538704626e-05,-5.19751463027e-05,1793244806835774208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805.124164464,651.124164464,631,651.875835536,0.429254128162,-0.00553471332115,0.0700400634354,0.999999994773,-7.05439985595e-05,5.32740625434e-05,-5.13795924329e-05,1793244806852440832
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879,786,805.716513206,651.716513206,631,651.283486794,0.430201685998,-0.00553102778547,0.0700447025144,0.999999993821,-6.91324954764e-05,6.89121053543e-05,-5.31953484774e-05,1793244806869107200
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681.303166121,659.696833879,634,879,786,806,651.696833879,631,651.303166121,0.431072652865,-0.00552654353304,0.0700036567279,0.999999996387,-6.41909093864e-05,-1.26768831429e-07,-5.57240276375e-05,1793244806885773568
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681.884591127,659.115408873,634,879,786,806,651.115408873,631,651.884591127,0.431873321199,-0.00552132618429,0.0699206794096,0.999999985909,-5.60092605139e-05,-0.000146885755369,-5.8907057254e-05,1793244806902440192
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.539530666,659,634,879.460469334,786,806,651.460469334,631,651.539530666,0.432754508583,-0.00552410326045,0.0698978213871,0.99999998126,-5.95953944491e-05,-0.000174004092873,-6.0425379935e-05,1793244806919106560
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.03564724,659.03564724,634,880,786,806,651.96435276,631,651.03564724,0.433657763619,-0.00552880763272,0.0698945455187,0.999999982352,-6.61757470266e-05,-0.000164794439198,-6.13157655692e-05,1793244806935773184
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.621212232,659.621212232,634,880,786,806,651.378787768,631,651.621212232,0.434593831878,-0.00553270174773,0.0699636764239,0.999999994165,-7.398910793e-05,-5.2241750437e-05,-5.88790415333e-05,1793244806952440064
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.435523849197,-0.00553652054223,0.0700154054868,0.999999994869,-7.75543846621e-05,3.23263546877e-05,-5.65893162072e-05,1793244806969106944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.436442782175,-0.00554020136044,0.0700352567433,0.999999993668,-7.33377492564e-05,6.56305111003e-05,-5.45688732779e-05,1793244806985773824
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.363305946,714,682,659.636694054,634,880,786,806,651,631,652,0.437302315505,-0.00554302571971,0.0700274774609,0.99999999334,-7.95547946807e-05,6.25421827565e-05,-5.5494369783e-05,1793244807002440448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.939704094,714,682,659.060295906,634,880,786,806,651,631,652,0.438127008716,-0.00554534773432,0.0700034918575,0.999999993361,-9.18915750936e-05,3.81083313732e-05,-5.8147767437e-05,1793244807019107072
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.483455497,714,682,659.516544503,634,880,786,806,651,631,652,0.438857403001,-0.00554247441503,0.0699378300946,0.999999992503,-8.25562975761e-05,-6.69601358844e-05,-6.07804878689e-05,1793244807035773440
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.904325217,633.904325217,880,786,806.095674783,651,631,652,0.439571664679,-0.00553855046877,0.0698687701273,0.999999979254,-7.24095009193e-05,-0.000179501775721,-6.34641429853e-05,1793244807052440064
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.313614145,633.313614145,880,786,806.686385855,651,631,652,0.440259456794,-0.00553233095983,0.069807320288,0.999999955509,-7.11644000887e-05,-0.000281967679025,-6.642384453e-05,1793244807069106688
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.731030451,807,651.268969549,630.731030451,652,0.441006798701,-0.00553252817895,0.0697927095544,0.999999948285,-7.33271115701e-05,-0.000305893032786,-6.69563331417e-05,1793244807085773568
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.157645242,807,651.842354758,630.157645242,652,0.441821538116,-0.00553998775407,0.069831110615,0.999999965733,-7.93467338954e-05,-0.000240927377404,-6.47417391307e-05,1793244807102440448
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.418937401,658.581062599,633,880,785,807,652,630.418937401,652,0.442564521661,-0.0055433556834,0.0698565839499,0.99999997261,-8.1563234207e-05,-0.000210054374431,-6.3281718343e-05,1793244807119107072
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682.996732534,658.003267466,633,880,785,807,652,630.996732534,652,0.443280296019,-0.0055451720938,0.0698771551972,0.999999976229,-8.23376214564e-05,-0.000192109028903,-6.21078255851e-05,1793244807135773696
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.569493743,745,714,683,658,632.430506257,880,785.569493743,807,652,630.430506257,652,0.443906402255,-0.00554460374541,0.0698376480138,0.999999961367,-8.27880635068e-05,-0.00025795424544,-6.2219722609e-05,1793244807152440320
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,713.851674142,683,658,632,880.148325858,785.851674142,807,651.851674142,630,652,0.444523754008,-0.00554412020257,0.0697973689642,0.99999994245,-8.11511358216e-05,-0.000323399541344,-6.26671268836e-05,1793244807169106944
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,713.254379143,683,658,632,880.745620857,785.254379143,807,651.254379143,630,652,0.445116150489,-0.0055439344114,0.0697557877674,0.999999920694,-7.32015036278e-05,-0.000386191901051,-6.41079477738e-05,1793244807185773824
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.339966972,745,713.330016514,683,658,632,880.669983486,785,806.669983486,651,630,652,0.445708414351,-0.00554715532302,0.0697283783316,0.999999905436,-7.52722066318e-05,-0.000423184798499,-6.61521456314e-05,1793244807202440448
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.190313505,745,713.904843248,683,658,632,880.095156752,785,806.095156752,651,630,652,0.4463005798,-0.00555290336776,0.069711481681,0.999999896793,-8.47761154214e-05,-0.000441039341456,-6.864393581e-05,1793244807219106816
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.481226229,745.481226229,714,683,657.518773771,632,880.481226229,785,806,651.481226229,630,652,0.446836770701,-0.00555815322332,0.069702327404,0.999999885481,-9.79926019039e-05,-0.000463509012824,-6.77842223723e-05,1793244807235774208
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.941099484,745.941099484,714,682.941099484,657,631.941099484,880.941099484,784.941099484,806,651.941099484,630,652,0.447356527382,-0.00556278014012,0.0696931982184,0.9999998727,-0.000109173520265,-0.000488132317756,-6.63983992354e-05,1793244807252441088
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.354624171,745.354624171,714,682.354624171,657,631.354624171,880.354624171,784.354624171,806,651.354624171,630,652,0.447828542919,-0.00556271259452,0.0696705363854,0.999999856036,-9.55248920324e-05,-0.000523845223682,-6.62554594879e-05,1793244807269107968
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.230233222,745,714,682.230233222,657,631,880,784.230233222,806,651,630,652,0.448307450644,-0.00556317042956,0.0696599718258,0.999999847415,-9.16131560159e-05,-0.00054081238423,-6.55615584361e-05,1793244807285774592
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.812615897,745,714,682.812615897,657,631,880,784.812615897,806,651,630,652,0.448796900159,-0.00556443185193,0.0696679104548,0.99999985271,-0.000102594325402,-0.000529107294566,-6.40249436662e-05,1793244807302440960
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.610104816,683,657,631,880.389895184,784.610104816,806.389895184,651,630,652,0.449265872665,-0.00556286150257,0.0696799625289,0.999999862721,-0.00010391015536,-0.00050961259156,-6.36789154864e-05,1793244807319107584
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+257,4.283333333,HOLD_POSE2,764.963656208,745.036343792,713.036343792,683,653.963656208,629,880,782,806,652,629.036343792,652,0.453686766407,-0.00557874885219,0.0695403948831,0.999999739412,-0.000130577382474,-0.00070739378319,-6.09825898734e-05,1793244808312073728
+258,4.300000000,HOLD_POSE2,765,745.542946795,713,683,653.457053205,628.457053205,880,782,806.542946795,652,629.542946795,652,0.453684814155,-0.00557731377152,0.0695392406041,0.999999738926,-0.000126164980671,-0.000708899752168,-6.07622786424e-05,1793244808328740352
+259,4.316666667,HOLD_POSE2,765,746,713.121284833,683,653,628.121284833,880.121284833,782,807,651.878715167,630,652,0.453683562003,-0.0055758426657,0.0695384343515,0.999999738674,-0.000122498562222,-0.000709905120216,-6.06731364829e-05,1793244808345406976
+260,4.333333333,HOLD_POSE2,765,746,713.698518806,683,653,628.698518806,880.698518806,782,807,651.301481194,630,652,0.453685455626,-0.00557471544863,0.0695391002879,0.999999739208,-0.000123265898033,-0.000708983536968,-6.10901600082e-05,1793244808362073600
+261,4.350000000,HOLD_POSE2,765,746,714,683.279865504,653,628.720134496,881,782,806.720134496,651.279865504,630,652,0.453686657955,-0.00557503124004,0.0695400743518,0.999999739803,-0.00012468075639,-0.000707883516628,-6.12287310492e-05,1793244808378740224
+262,4.366666667,HOLD_POSE2,765,746,714,683.865708619,653,628.134291381,881,782,806.134291381,651.865708619,630,652,0.453687104489,-0.00557692467608,0.069541385292,0.999999740462,-0.000126803552615,-0.000706588410653,-6.10628693121e-05,1793244808395406848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,653,628,881,782,807,652,630,653,0.453685666314,-0.00557495319802,0.0695391656809,0.999999739202,-0.000122419973474,-0.000709108421556,-6.1433978473e-05,1793244808428106752
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.578502987,714,683.421497013,653.578502987,628.578502987,880.421497013,782,807.578502987,652,630,652.421497013,0.453685227361,-0.00557482504177,0.0695392010638,0.999999738952,-0.000122955876401,-0.000709397517712,-6.10989718362e-05,1793244808444773376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,713.842833649,683.157166351,653.842833649,629,880.157166351,782,807.842833649,652,630,652,0.453685302819,-0.00557472524466,0.0695394226801,0.999999739107,-0.000123379692434,-0.000709116398264,-6.09670373957e-05,1793244808461440000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,713.263739608,683.736260392,653.263739608,629,880.736260392,782,807.263739608,652,630,652,0.453686759263,-0.00557470158028,0.0695401442573,0.99999974035,-0.000123502600892,-0.000707304482047,-6.13802690826e-05,1793244808478106368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,713.31952317,683.68047683,653,629,881,782,807,651.68047683,629.68047683,652,0.453687192984,-0.00557491855372,0.069540209415,0.99999974063,-0.000124082811851,-0.00070680421235,-6.14100090779e-05,1793244808494772992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,713.906272343,683.093727657,653,629,881,782,807,651.093727657,629.093727657,652,0.453686771372,-0.00557533677916,0.0695397255911,0.999999740106,-0.000125045477445,-0.000707400908774,-6.1119024414e-05,1793244808511439616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.514206428,713.514206428,683.485793572,653,629,880.514206428,782,806.514206428,651.485793572,629,652,0.453687334131,-0.00557522065618,0.0695401992985,0.999999740949,-0.000123184220664,-0.000706556485285,-6.08686936035e-05,1793244808528105984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.063591917,683.936408083,653,629,880,782,806.063591917,652,629.063591917,652,0.453687689108,-0.00557499174497,0.0695405855438,0.999999741799,-0.000120976818144,-0.000705755010574,-6.06410191043e-05,1793244808544772352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.638585333,683.361414667,653,629,880,782,806.638585333,652,629.638585333,652,0.453684868178,-0.00557467273224,0.0695388045126,0.999999740652,-0.000120303061868,-0.000707502168175,-6.05333917565e-05,1793244808561439232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.784950629,745,714,683,653,629,880.215049371,782,807,652,630,652,0.45367687746,-0.00557454461069,0.0695348024474,0.999999736595,-0.000120806525757,-0.000713118011417,-6.065032905e-05,1793244808578106112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.205998085,745,714,683,653,629,880.794001915,782,807,652,630,652,0.453660138505,-0.00557473951223,0.0695270419834,0.999999727513,-0.000123302063204,-0.000725280383592,-6.11472711137e-05,1793244808594772736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.37901055,745.37901055,713.62098945,683.37901055,653,628.62098945,881,782,807,652,630,652,0.453632182237,-0.00557387351443,0.0695162043153,0.99999971441,-0.000122946998318,-0.000743150089261,-6.15722615911e-05,1793244808611439104
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.967364267,745.967364267,713.032635733,683.967364267,653,628.032635733,881,782,807,652,630,652,0.453598030182,-0.00557242153817,0.0695036669796,0.999999698778,-0.000121017428321,-0.000764172191649,-6.19575102653e-05,1793244808628105472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,713,683.452135354,653.547864646,628.547864646,881,782,807,652,629.452135354,652,0.453537779974,-0.00557172370942,0.0694859479779,0.999999681057,-0.000119945222632,-0.000787196183437,-6.18198824477e-05,1793244808644772352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.873367855,746,713.126632145,683,653.873367855,629,880.873367855,782,806.873367855,651.873367855,629.126632145,652,0.453472072136,-0.00557048747368,0.0694693193066,0.999999663607,-0.000119129366082,-0.00080918483732,-6.1759132374e-05,1793244808661438720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.299095528,746,713.700904472,683,653.299095528,629,880.299095528,782,806.299095528,651.299095528,629.700904472,652,0.453392489684,-0.00556719142814,0.0694576206154,0.999999648942,-0.000119041707156,-0.000827098026437,-6.20786907908e-05,1793244808678105344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.563628632,745.718185684,713.718185684,683,653,629,880,782,806.281814316,651.281814316,630,652,0.453309447576,-0.00556421993081,0.0694505152862,0.999999640737,-0.000116762336616,-0.000837325483512,-6.14731076574e-05,1793244808694772480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.739877166,745.130061417,713.130061417,683,653,629,880,782,806.869938583,651.869938583,630,652,0.4532226451,-0.005561601192,0.0694484025801,0.999999639797,-0.000112100748317,-0.000839199154709,-5.98619685665e-05,1793244808711439616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.549101906,745,713.450898094,683,653,629,880.450898094,782,806.549101906,652,629.549101906,652,0.453117080765,-0.0055607291578,0.0694482276307,0.999999639855,-0.000111319176649,-0.000839369915003,-5.79331724613e-05,1793244808728106496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.029749071,653.029749071,629,881,782,806.029749071,652,629,652,0.453004165464,-0.00556017133911,0.0694482406263,0.999999639793,-0.000111473387044,-0.000839559828009,-5.59251020491e-05,1793244808744773120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.607234278,653.607234278,629,881,782,806.607234278,652,629,652,0.452853988854,-0.00555626734332,0.0694415837788,0.999999632237,-0.000108573034133,-0.00084900490565,-5.41180992294e-05,1793244808761439488
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,653.816026281,629,880.816026281,782,807,652,629.183973719,652,0.452693660407,-0.00555212373962,0.0694356710711,0.999999624804,-0.000104923449135,-0.000858300865171,-5.19824930116e-05,1793244808778105856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.342551263,713.657448737,683.657448737,653.342551263,629,880.342551263,782,807,652,630,652,0.452320334794,-0.00554188536401,0.0694292282713,0.999999614122,-9.24284044516e-05,-0.000872417996533,-4.58319288634e-05,1793244808811439104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.931934479,713.068065521,683.068065521,653.931934479,629,880.931934479,782,807,652,630,652,0.452122079698,-0.00553562833484,0.0694287142299,0.999999612978,-8.37278805855e-05,-0.000874788781845,-4.21683986472e-05,1793244808828105472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.48744601,713.51255399,683.51255399,654,629,881,782,806.48744601,652,630,652,0.45188754717,-0.00553187885939,0.0694292143634,0.999999612297,-7.90687429097e-05,-0.000876172251522,-3.84193759482e-05,1793244808844772608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.817602948,654,629,880.908801474,782.091198526,806.091198526,651.908801474,629.908801474,652,0.451641637258,-0.00552799798513,0.069429949699,0.999999611704,-7.39416987521e-05,-0.000877460712335,-3.44482922334e-05,1793244808861439488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.669113775,654,629,880.334556888,782.665443112,806.665443112,651.334556888,629.334556888,652,0.451360553069,-0.00552168703082,0.0694312294613,0.999999611292,-6.35414868205e-05,-0.000878928726624,-2.93601516862e-05,1793244808878106112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.760095588,682.239904412,654,629,880,782.760095588,807,651.239904412,629.239904412,652,0.451062816614,-0.00551478951293,0.0694348068004,0.999999613803,-5.19115823198e-05,-0.000876996625369,-2.39990904022e-05,1793244808894772736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.185331833,682.814668167,654,629,880,782.185331833,807,651.814668167,629.814668167,652,0.450741836891,-0.0055070732681,0.0694415911043,0.999999620362,-3.85652696375e-05,-0.000870318631894,-1.82570857892e-05,1793244808911438848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,880,782.401945337,806.598054663,652,630,652,0.450405083205,-0.00549903700585,0.0694505893402,0.999999630405,-2.44172924995e-05,-0.000859327372948,-1.22262938371e-05,1793244808928105472
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,629,880,782.995177662,806.004822338,652,630,652,0.450060822653,-0.00549084844659,0.0694606411926,0.999999641835,-9.88780122402e-06,-0.000846283418024,-6.05806728736e-06,1793244808944772096
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.150206456,745.849793544,713.150206456,683.849793544,655,629.849793544,880,783.849793544,806.849793544,652,630,652,0.449297843784,-0.00548113803758,0.0694966768897,0.999999679635,3.1576505272e-05,-0.000799804631806,6.80932156233e-06,1793244808978105600
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713,682,658,633,880,786,806,651,630.018583412,651.018583412,0.438896006447,-0.00541580865061,0.0697676208979,0.999999929248,0.000135770706353,-0.000350271746426,1.95065503999e-05,1793244809261438720
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.172615532,682.172615532,658.172615532,633,880,786,806,651.172615532,631,652,0.437201833317,-0.00541742693934,0.0697119163429,0.999999900928,0.000113985000167,-0.000430029392418,1.50328458988e-05,1793244809294771968
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.747757447,682.747757447,658.747757447,633,880,786,806,651.747757447,631,652,0.436385399054,-0.00541481546474,0.0697325433258,0.999999913337,0.000120220236307,-0.000398205846017,1.74491746689e-05,1793244809311438848
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.668957771,658.668957771,633,880,785.668957771,806,652,630.668957771,652,0.435554092261,-0.0054117124396,0.0697699910618,0.999999931202,0.000128769534815,-0.000347252965381,2.07525530107e-05,1793244809328105472
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.07931197,658.07931197,633,880,785.07931197,806,652,630.07931197,652,0.43471116738,-0.00540822542513,0.0698205788329,0.999999950435,0.000139126531926,-0.000281356631725,2.47488765724e-05,1793244809344772352
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.498239055,682.501760945,658.501760945,633.501760945,880,785.501760945,805.498239055,652,630,652,0.433836402744,-0.0054098081209,0.0698356683008,0.999999955539,0.000135989556497,-0.000264053362389,2.65579058497e-05,1793244809361438976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.919290194,658.919290194,634,879.919290194,785.919290194,805.080709806,652,630,652,0.432954380122,-0.00541201605628,0.06984357634,0.999999958487,0.000131707471452,-0.000254771838915,2.77656438366e-05,1793244809378105600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.770274412,713,681.770274412,658.229725588,633.770274412,879.229725588,785.229725588,806,652,630,652,0.431121236123,-0.00541135552541,0.0698128738208,0.999999947879,0.000137577771357,-0.000290881507632,2.65084779483e-05,1793244809411438848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.194163077,713,681.194163077,658.805836923,633.194163077,879.805836923,785.805836923,806,652,630,652,0.430122624528,-0.00540482567455,0.0697449843157,0.999999906117,0.000146124119384,-0.000407176473982,2.4921902667e-05,1793244809428105472
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.561307354,633.561307354,879,785.561307354,806,651.438692646,631,652,0.427411973718,-0.0054074815464,0.0697953155294,0.999999938834,0.000142318971124,-0.000318440249608,2.59627583159e-05,1793244809478105344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.861853075,659,634,879.138146925,786,806,651,631,652,0.426546265612,-0.00540970492582,0.0698526390208,0.999999961714,0.000145018567127,-0.000233730606507,3.02092880892e-05,1793244809494771968
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.286796273,659,634,879.713203727,786,806,651,631,652,0.425636936864,-0.00540848881745,0.0698578736484,0.999999961829,0.000143889241899,-0.000233668430149,3.2209254504e-05,1793244809511438592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.711065157,634,879.711065157,786,806,651.288934843,631,652,0.424722323621,-0.00540596190038,0.0698477683163,0.999999957867,0.000144063567918,-0.00025000495537,3.17620781162e-05,1793244809528105472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.134663187,634,879.134663187,786,806,651.865336813,631,652,0.423802452783,-0.00540213083325,0.0698224009473,0.999999949045,0.000145534922922,-0.000282656880756,2.88801896419e-05,1793244809544772096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.454670152,786,806,652,631,652,0.422798170573,-0.00539748461311,0.069760960044,0.999999909453,0.000155767711794,-0.000395100512592,2.6953653087e-05,1793244809561438720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.953546388,658.046453612,634,879.953546388,785.953546388,806,651.953546388,631,651.953546388,0.421781195243,-0.00539341195343,0.0696943893193,0.999999850736,0.000166757857665,-0.000519687390741,2.53925901603e-05,1793244809578105344
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.19576938,659,634,879,785.19576938,806,651,631,651.19576938,0.420079373484,-0.00540391847875,0.069724159305,0.999999888431,0.000145979770745,-0.000448551231497,2.5100694114e-05,1793244809611439104
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.415886265,713.584113735,680.415886265,658,634,879,786,805,652,631,652,0.412826730836,-0.00537693056087,0.0697645390447,0.999999907234,0.000190258408798,-0.000385463746972,2.74087966282e-05,1793244809761441024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.012237009,680.987762991,658.012237009,634,879,786,805,652,631,652,0.412180321653,-0.00537171983748,0.069812391265,0.999999937293,0.000199534706606,-0.000291260328915,2.76916514617e-05,1793244809778107392
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.837771234,714,680,658.837771234,634,879,785.837771234,805,652,631,651.837771234,0.410860094521,-0.00537059323815,0.069879728418,0.999999962148,0.000199768713442,-0.000186501973123,3.18463485994e-05,1793244809811440640
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.261582881,714,680,658.261582881,634,879,785.261582881,805,652,631,651.261582881,0.410175069909,-0.00536443094981,0.0698569300792,0.999999950613,0.000209982706192,-0.000231741017677,3.12718057408e-05,1793244809828107008
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.222722902,745,714,680,658,633.222722902,879,785.222722902,805,652,631,652,0.406671782014,-0.00538987184581,0.0698062362887,0.999999931775,0.00018386199102,-0.000319315919883,2.61066732979e-05,1793244809928107008
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.250287192,745.749712808,714,680.749712808,657.250287192,634,879.250287192,785.749712808,805,652,631,652,0.401389004591,-0.0053531911982,0.0697989336782,0.999999907414,0.000277567779847,-0.000328193825412,2.0427585882e-05,1793244810244772096
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.727193214,786,805,652,631,652,0.400972134516,-0.00535868528383,0.0698240744378,0.999999936229,0.00021557708915,-0.000284388563589,1.38534433861e-05,1793244810561438976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.139843652,786,805,652,631,652,0.400973737998,-0.00535951579248,0.0698265127645,0.999999937787,0.000212379133089,-0.000281314809128,1.35434324277e-05,1793244810578105856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,630.557072316,651.557072316,0.400974086311,-0.00535893700963,0.0698266378776,0.999999938076,0.00021211367846,-0.000280498559574,1.32907419317e-05,1793244810594772480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.024023378,786,805,652,630.024023378,651.024023378,0.400973979755,-0.00535796598937,0.069826042697,0.999999937939,0.000212830112446,-0.00028045213236,1.30820712919e-05,1793244810611439104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.599496769,786,805,652,630.599496769,651.599496769,0.400972435462,-0.00535810046849,0.0698255066324,0.999999937057,0.000215049959315,-0.000281883113874,1.34726898764e-05,1793244810628105728
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.825987185,0.400971676049,-0.00535845006456,0.0698254597912,0.999999936726,0.000215969568007,-0.000282344894415,1.36570730863e-05,1793244810644772608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,651.25366252,0.400972713209,-0.00535929205898,0.0698265327726,0.999999937666,0.000213912957405,-0.000280588193242,1.33693876274e-05,1793244810661439232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.329519017,714,680,658.329519017,634,879,786,805,652.329519017,631,651.329519017,0.400973716442,-0.00535932626214,0.069827376769,0.999999938241,0.000213490286983,-0.000278864154299,1.32090009211e-05,1793244810678105856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.497036507,714,679.497036507,658.497036507,634,878.497036507,786,805,652.497036507,631,652,0.40097420326,-0.0053586643427,0.069827844864,0.999999938378,0.000214695313152,-0.000277449541779,1.31231168726e-05,1793244810711438848
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.657604709,658,634,878.657604709,786,805,652,631,652,0.400973234068,-0.00535962212245,0.0698274162834,0.999999938184,0.000213882460942,-0.000278771045698,1.3163938173e-05,1793244810744772352
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.237852952,652,631,652,0.400974356281,-0.0053596915022,0.0698282466354,0.99999993861,0.000213724149438,-0.000277357481977,1.32213258866e-05,1793244810761439232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.825421361,652,631,652,0.400977588087,-0.00535866633561,0.0698304912086,0.999999939662,0.000214645942675,-0.000272812921839,1.32864594186e-05,1793244810778105856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.406692673,786,805.593307327,652,631,652,0.400975579259,-0.00535900230281,0.069829142792,0.999999939102,0.000214483291374,-0.000274991940511,1.31238946164e-05,1793244810794772480
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.985302048,786,805.014697952,652,631,652,0.400971355117,-0.00535991364713,0.0698262755503,0.999999937845,0.000213862224748,-0.000280013143665,1.2865077408e-05,1793244810811439104
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6855308f6e6c7af08f400815b064e931d54ab5ce
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+17,0.283333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+18,0.300000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+400,6.666666667,pose2_to_pose3_retreat,0.575670437431,-0.000122146124487,1.0600511242,0.546242072665,0.00855354631041,1.05971760987
+401,6.683333333,pose2_to_pose3_retreat,0.57567037518,-0.000122153516106,1.06005108026,0.546242010315,0.00855353861605,1.05971756675
+402,6.700000000,pose2_to_pose3_retreat,0.575670093478,-0.000122186964854,1.06005088144,0.546241728168,0.00855350379738,1.05971737158
+403,6.716666667,pose2_to_pose3_retreat,0.575669959603,-0.000122202860823,1.06005078695,0.546241594082,0.00855348725037,1.05971727883
+404,6.733333333,pose2_to_pose3_retreat,0.575669746383,-0.000122228178199,1.06005063646,0.546241380524,0.0085534608961,1.05971713111
+405,6.750000000,pose2_to_pose3_retreat,0.57566963612,-0.000122196469519,1.06005074935,0.546241269268,0.00855348919202,1.05971724295
+406,6.766666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.0085535275076,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9197a1175b246514aedc0d7c939b416f1d5f6b4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf0e36a9ae14eb8518ce884ca4c19e8b192924d9bcc158b192870d229566223
+size 25846254
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c12dd45e717b5c9e54148bb99ef812e2af2bdbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,409 @@
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+30,0.500000000,BASELINE,765,745,714,679.41693433,658,634,879,785.58306567,805.58306567,652,630.41693433,652,0.400974996147,-0.00535882057488,0.0698308596354,0.999999939276,0.000215755840892,-0.000273350776332,1.33202937904e-05,1793244811455795456
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+55,0.916666667,BASELINE,764.072480774,745,714,680,658.072480774,634,879,786,805,652,631,651.072480774,0.400977023658,-0.00536049179617,0.0698325262078,0.999999940936,0.000213029783298,-0.000269411777722,1.28061325556e-05,1793244811872462080
+56,0.933333333,BASELINE,764.50222352,745,714,680,658.50222352,634,879.50222352,786,805,652,631,651.50222352,0.400976968106,-0.00536049528747,0.069833091741,0.999999940798,0.000214052243337,-0.000269105435685,1.29212527421e-05,1793244811889128960
+57,0.950000000,BASELINE,765,744.92157704,714,680,658.92157704,634,879.92157704,785.92157704,805,652,631,651.92157704,0.400976565502,-0.0053603567373,0.0698334398121,0.999999940606,0.000215027099966,-0.000269036809565,1.30471610231e-05,1793244811905795840
+58,0.966666667,BASELINE,765,744.33239276,714,680,658.33239276,634,879.33239276,785.33239276,805,652,631,651.33239276,0.400975367219,-0.00535939622946,0.0698327054176,0.999999940206,0.000215728792328,-0.000269956174702,1.31251375695e-05,1793244811922462464
+59,0.983333333,BASELINE,765,744.252250413,714,680,658,634,879,785.252250413,805,652,631,651.252250413,0.400975247862,-0.00535925284909,0.0698323211379,0.999999940271,0.000215021296524,-0.000270281718811,1.30940724706e-05,1793244811939129344
+60,1.000000000,BASELINE,765,744.831015622,714,680,658,634,879,785.831015622,805,652,631,651.831015622,0.400976525073,-0.00536016716444,0.0698323900493,0.999999940934,0.000212489737251,-0.000269838616723,1.29218630722e-05,1793244811955796224
+61,1.016666667,BASELINE,765,745,714,680,658,634.407350655,879,786,805,652,631,652,0.400976411792,-0.00536083656955,0.0698326719849,0.999999941141,0.000211614988684,-0.000269754922563,1.30203702744e-05,1793244811972462848
+62,1.033333333,BASELINE,765,745,714,680,658,634.982683505,879,786,805,652,631,652,0.400975725103,-0.00536140497917,0.0698330417669,0.999999941161,0.00021142347152,-0.000269819440127,1.32305148883e-05,1793244811989129472
+63,1.050000000,BASELINE,765,745,714,680,658,634.430500551,879,786,805,652,631,651.430500551,0.400975557321,-0.00536119113473,0.0698323879632,0.99999994089,0.000212196011881,-0.000270228380449,1.30261799907e-05,1793244812005795840
+64,1.066666667,BASELINE,765,745,714,680,658,634,879,785.845678958,805,652,631,651.154321042,0.400975410408,-0.00536080793289,0.0698319427689,0.999999940642,0.000212974073724,-0.000270539308206,1.29418077948e-05,1793244812022462208
+65,1.083333333,BASELINE,765,745,714,680,658,634,879,785.267316612,805,652,631,651.732683388,0.400975276591,-0.00536002607584,0.0698321580701,0.999999940483,0.000213685102229,-0.000270551549396,1.32224101789e-05,1793244812039129088
+66,1.100000000,BASELINE,765,745,714,680,658.310789907,634,878.689210093,785.310789907,805,652,631,652,0.40097483633,-0.00536026813486,0.0698320811958,0.999999940606,0.000212573787962,-0.00027096743787,1.33096242751e-05,1793244812055795712
+67,1.116666667,BASELINE,765,745,714,680,658.888676535,634,878.111323465,785.888676535,805,652,631,652,0.400974132708,-0.00536139016015,0.0698317532223,0.999999940966,0.000209896329558,-0.000271730225851,1.32306380512e-05,1793244812072462336
+68,1.133333333,BASELINE,765,745,714,680,658.536320823,634,878,786,805,652,631,652,0.400975192642,-0.00536045088322,0.069832251241,0.999999940806,0.000212160351609,-0.000270573437042,1.29116023146e-05,1793244812089129984
+69,1.150000000,BASELINE,765,745,714,680,657.960988048,634,878,786,805,652,631,652,0.400976526271,-0.00535906350626,0.0698328581684,0.999999940488,0.000215475453289,-0.000269138915122,1.25751113201e-05,1793244812105797632
+70,1.166666667,BASELINE,765,745,714,680,657.371282057,634,878,786,805,652,631,652,0.400975783522,-0.00535829347122,0.0698322204041,0.99999993986,0.000216984074008,-0.000270249290863,1.28007398987e-05,1793244812122464000
+71,1.183333333,BASELINE,765,744.78518249,714,680,657.21481751,634,878,786,805.21481751,652,631,651.78518249,0.400974917822,-0.00535825433203,0.0698318998682,0.999999939707,0.000216575049559,-0.00027113550253,1.28843635044e-05,1793244812139130112
+72,1.200000000,BASELINE,765,744.205213113,714,680,657.794786887,634,878,786,805.794786887,652,631,651.205213113,0.400973843125,-0.00535945758672,0.0698321185646,0.99999994036,0.000212906366886,-0.000271640674999,1.27266037454e-05,1793244812155796480
+73,1.216666667,BASELINE,765,744.371945546,714,680,658,634,878.743891091,786,805.628054454,652.371945546,631,651.371945546,0.400973364001,-0.00536003408021,0.0698317013222,0.999999940304,0.000211990125694,-0.000272558197657,1.27909933345e-05,1793244812172462848
+74,1.233333333,BASELINE,765,744.947565045,714,680,658,634,879.89513009,786,805.052434955,652.947565045,631,651.947565045,0.400973211007,-0.00536026736497,0.0698309358455,0.999999939864,0.000212581096319,-0.000273701519451,1.29770298693e-05,1793244812189129472
+75,1.250000000,BASELINE,765,745,714,679.477126408,658,634,878.954252816,786,805,652.477126408,631,652,0.400974059824,-0.00536115564191,0.0698315166294,0.999999940203,0.000212507478667,-0.000272519754356,1.29188671744e-05,1793244812205796096
+76,1.266666667,BASELINE,765,745,714,679.100775354,658,634,878.100775354,786,805,652,631,652,0.400974843617,-0.00536195047437,0.0698322109975,0.999999940591,0.000212308274533,-0.00027125112091,1.29115953327e-05,1793244812222463232
+77,1.283333333,BASELINE,765,745,714,679.691434593,658,634,878.691434593,786,805,652,631,652,0.400974823239,-0.005361971949,0.0698328016201,0.99999994084,0.000211822361524,-0.000270692983522,1.32706846422e-05,1793244812239129856
+78,1.300000000,BASELINE,765,745,714,680,658.276502246,634,879,786,805,652,631,652,0.400975232514,-0.00536169090788,0.0698333002371,0.999999941184,0.000211297982948,-0.00026982421147,1.34273150519e-05,1793244812255796480
+79,1.316666667,BASELINE,765,745,714,680,658.855453563,634,879,786,805,652,631,652,0.400976111763,-0.0053610789631,0.0698336982148,0.99999994163,0.00021073152925,-0.000268615654993,1.33624879011e-05,1793244812272463104
+80,1.333333333,BASELINE,765,745,714,680,658.570759133,634,879,786,805.429240867,652,631,652,0.400976620183,-0.0053606936405,0.0698338223532,0.999999941506,0.000211691748046,-0.000268326838956,1.32468216358e-05,1793244812289129728
+81,1.350000000,BASELINE,765.001353362,745.001353362,714,680,657.998646638,634,879,786.001353362,805.998646638,652,631.001353362,652,0.400977004767,-0.0053603827144,0.0698338555676,0.999999941192,0.000213157395138,-0.000268343069014,1.31138945915e-05,1793244812305796352
+82,1.366666667,BASELINE,765.592398134,745.592398134,714,680,657.407601866,634,879,786.592398134,805.407601866,652,631.592398134,652,0.400977195956,-0.00535963124184,0.0698339736849,0.999999941233,0.000213505058067,-0.000267926297588,1.28309645755e-05,1793244812322462976
+83,1.383333333,BASELINE,765.820122217,745.820122217,714,679.820122217,657.179877783,634,879.179877783,786.820122217,805.179877783,652,631.640244434,652,0.400976381232,-0.00535941786307,0.0698333788964,0.999999940938,0.000213859677226,-0.000268747447716,1.2788368679e-05,1793244812339129344
+84,1.400000000,BASELINE,765.240563995,745.240563995,714,679.240563995,657.759436005,634,879.759436005,786.240563995,805.759436005,652,630.481127991,652,0.400973331414,-0.00536040010465,0.0698312000627,0.999999939886,0.000214229752877,-0.000272319204427,1.32797844585e-05,1793244812355795968
+85,1.416666667,BASELINE,765,745,714,679.336359415,658,634,879.32728117,786,805.663640585,652,630.336359415,652,0.400973156531,-0.00535992818869,0.0698311665931,0.999999939653,0.000214878077958,-0.000272664154376,1.32683735403e-05,1793244812372462848
+86,1.433333333,BASELINE,765,745,714,679.911413023,658,634,878.177173955,786,805.088586977,652,630.911413023,652,0.400975021816,-0.00535842434389,0.0698326555603,0.999999940004,0.000215723860021,-0.000270719232027,1.29001365094e-05,1793244812389129728
+87,1.450000000,BASELINE,765,745,714,680,658,634,878.485950145,786,805,652,630.514049855,651.514049855,0.400975464435,-0.00535969632626,0.0698329411447,0.999999940817,0.000213618706881,-0.000269383351405,1.2850035831e-05,1793244812405796352
+88,1.466666667,BASELINE,765,745,714,679.937681326,657.937681326,634,879,786,805,652,630,651.062318674,0.400975746305,-0.0053612368503,0.0698330219081,0.9999999416,0.000211325070564,-0.000268283507673,1.28970235279e-05,1793244812422462720
+89,1.483333333,BASELINE,765,745,714,679.344923818,657.344923818,634,879,786,805,652,630,651.655076182,0.400976865083,-0.00536076057038,0.0698332245472,0.999999941461,0.000212001092115,-0.000268248723293,1.32772859826e-05,1793244812439129088
+90,1.500000000,BASELINE,765,745,714,679.24219752,657.24219752,634,879,786,805,652,630.24219752,652,0.400976929269,-0.00536063999893,0.0698330613332,0.999999941246,0.000212705322853,-0.000268489462151,1.33491800904e-05,1793244812455795456
+91,1.516666667,BASELINE,765,745,714,679.821474639,657.821474639,634,879,786,805,652,630.821474639,652,0.400975525722,-0.00536101448655,0.0698323889416,0.999999940924,0.000213448813812,-0.000269113661843,1.29919009899e-05,1793244812472462336
+92,1.533333333,BASELINE,765,745,714,679.602315856,658,634,878.602315856,786,805,652,631,651.602315856,0.400975324226,-0.00536063696697,0.0698325685981,0.99999994077,0.000213708460311,-0.000269482035727,1.29516713418e-05,1793244812489128960
+93,1.550000000,BASELINE,765,745,714,679.02747285,658,634,878.02747285,786,805,652,631,651.02747285,0.400975658214,-0.00535992444604,0.0698331278219,0.999999940691,0.000213752565635,-0.00026973644533,1.30526796804e-05,1793244812505795584
+94,1.566666667,BASELINE,765,745,714,679.559309984,658,634,878,786,805,652,631,651.559309984,0.400976446522,-0.00535986309249,0.0698337783592,0.999999940872,0.000214247330479,-0.000268663216186,1.32094714388e-05,1793244812522462464
+95,1.583333333,BASELINE,765,745,714,679.855280127,658.144719873,634,878.144719873,786,805,652,631,652,0.400976448231,-0.00536006717133,0.0698338202482,0.999999940879,0.00021436689942,-0.0002685424038,1.31685728637e-05,1793244812539129600
+96,1.600000000,BASELINE,765,745,714,679.275794992,658.724205008,634,878.724205008,786,805,652,631,652,0.40097401835,-0.00536097047383,0.0698320198767,0.999999940323,0.000213291359296,-0.000271483011136,1.25253648744e-05,1793244812555796224
+97,1.616666667,BASELINE,765,745,714,679,658.697687363,634,879,786,805,652,631,652,0.400973567388,-0.00536126797551,0.0698314949833,0.999999940108,0.000213424953027,-0.000272177209383,1.24107409323e-05,1793244812572462592
+98,1.633333333,BASELINE,765,745,714,679,658.120830746,634,879,786,805,652,631,652,0.400974913573,-0.00536101532158,0.0698321284103,0.999999940205,0.000214656616772,-0.000270831340255,1.27761484632e-05,1793244812589128960
+99,1.650000000,BASELINE,765,745,714,679,658,634,879,786,805,652,630.542348279,652,0.400974180147,-0.00536028574083,0.0698323447269,0.999999940283,0.000214168866133,-0.000270920458398,1.29603916233e-05,1793244812605795584
+100,1.666666667,BASELINE,765,745,714,679.036993578,658,634,879,786,805,652,630.036993578,651.963006422,0.400973040154,-0.00535942589976,0.0698324252319,0.999999940359,0.000213340586425,-0.000271289737376,1.30553575247e-05,1793244812622462208
+101,1.683333333,BASELINE,765,745,714,679.622692703,658,634,879,786,805,652,630.622692703,651.377307297,0.400974042827,-0.00535850833711,0.0698321305949,0.999999940479,0.000214218854512,-0.000270174879664,1.25381124199e-05,1793244812639128832
+102,1.700000000,BASELINE,765,744.793778427,714,679.793778427,658,634,878.793778427,786,804.793778427,652,631,651.206221573,0.400975031375,-0.00535789355607,0.0698323526606,0.999999940574,0.000214965152468,-0.000269242646475,1.22674141366e-05,1793244812655795456
+103,1.716666667,BASELINE,765,744.214179009,714,679.214179009,658,634,878.214179009,786,804.214179009,652,631,651.785820991,0.400975994349,-0.00535782698131,0.0698335102507,0.999999940624,0.000215472509648,-0.000268641067226,1.2443105293e-05,1793244812672462848
+104,1.733333333,BASELINE,765,744.362872248,714,679.362872248,658,634,878,786,804.362872248,652,631,652,0.400975912758,-0.00535825209799,0.0698333133345,0.999999940539,0.000215185272142,-0.000269182081094,1.26039186804e-05,1793244812689129728
+105,1.750000000,BASELINE,765,744.93843004,714,679.93843004,658,634,878,786,804.93843004,652,631,652,0.400975218929,-0.00535896540332,0.0698323225194,0.999999940372,0.000214432309337,-0.000270392787999,1.27560119732e-05,1793244812705796096
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,786,805,652,631,652,0.400972867792,-0.00535783438115,0.069830653281,0.999999939467,0.000215845678781,-0.000272625543161,1.22925203842e-05,1793244812736720640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.594555515,714,680,658.594555515,634,879,786,805,652,631,652,0.400974639224,-0.00535900779168,0.0698328154751,0.999999940096,0.000216126320906,-0.000270071157934,1.26038199331e-05,1793244812753387776
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.81648045,634,879,786,805,652,631,652,0.400976038746,-0.00535976997494,0.06983405881,0.999999940537,0.000216249213863,-0.00026832137045,1.28543541776e-05,1793244812770054912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.239504158,634,879,786,805,652,631,652,0.400976640911,-0.00535965050769,0.0698333321573,0.999999940589,0.000216033900547,-0.000268296599834,1.29746107049e-05,1793244812786721280
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.663802673,658,634,879,786,805,652,631,652,0.400976553706,-0.0053596757236,0.0698328783274,0.999999940858,0.000214100433743,-0.000268845557643,1.29078814421e-05,1793244812803387648
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.089005954,658,634,879,786,805,652,631,652,0.400975977254,-0.00535980362123,0.06983261812,0.999999941273,0.000210947592657,-0.000269801690769,1.27084482735e-05,1793244812820054272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.502161003,679.497838997,658,634,878.502161003,786,805,652,631,652,0.400975829809,-0.00535975107443,0.0698333130679,0.999999941022,0.000212641813048,-0.000269398922994,1.27693355587e-05,1793244812836721152
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.08555562,680,658,634,878,786,805,652,630.91444438,652,0.400975618827,-0.00535980066225,0.0698338142568,0.99999994065,0.000214726714929,-0.000269124290025,1.28513355262e-05,1793244812853387776
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.665552493,680,658,634,878,786,805,652,630.334447507,652,0.400974586397,-0.00536063156857,0.0698321843084,0.999999940305,0.000213937106178,-0.000271029048275,1.27797081947e-05,1793244812870054144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.243696012,786,805,652,630.243696012,652,0.400975848165,-0.00536091334288,0.0698323725221,0.999999940543,0.000213130974885,-0.000270783897985,1.28318998828e-05,1793244812886721024
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.819315148,786,805,652,630.819315148,652,0.400980234716,-0.00536044717869,0.069835037141,0.999999941571,0.000212302339338,-0.000267610491335,1.30527377333e-05,1793244812903387648
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.605012725,658,634.394987275,879,786,805,652,631,652,0.401002130053,-0.00536127475222,0.0698451111932,0.999999946049,0.000211313256923,-0.000251131706015,1.3476765262e-05,1793244812920054272
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.029316303,658,634.970683697,879,786,805,652,631,652,0.401032035768,-0.00536269421881,0.0698585751075,0.999999951678,0.000210250768902,-0.000228565626464,1.39937533515e-05,1793244812936720640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.546084369,745,714,679.546084369,658,635,879,786,805.546084369,652,630.453915631,652,0.401085157724,-0.00536335206532,0.0698767838395,0.999999958094,0.000211878021565,-0.000196754945252,1.43782275834e-05,1793244812953387264
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.874420328,745,714,680,658,634.874420328,878.874420328,786,805.874420328,652,630.125579672,652,0.4011419535,-0.00536404180251,0.0698938428425,0.999999962982,0.00021301472271,-0.000168659521199,1.46441871866e-05,1793244812970054144
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.279564416,745,714,680,658,634.279564416,878.279564416,786,805.279564416,652,630.720435584,652,0.401207822962,-0.0053650034196,0.0699056540947,0.999999965255,0.000211778988222,-0.000156301142723,1.44938415165e-05,1793244812986720768
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.303738418,786,805,652,631,652,0.401280877262,-0.00536591897291,0.0699135703046,0.999999967142,0.000210900661227,-0.000145094281666,1.35974230091e-05,1793244813003387648
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.87679727,786,805,652,631,652,0.401360302251,-0.00536679368208,0.0699180328366,0.999999968706,0.000210339242328,-0.000134908455085,1.20394725882e-05,1793244813020054528
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.450501416,879,786,805,652,630.549498584,652,0.401448779209,-0.00536959518155,0.0699149514502,0.999999968743,0.000207292644183,-0.000139449571132,9.83188649545e-06,1793244813036720896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.974804382,879,786,805,652,630.025195618,652,0.401541085833,-0.00537285619523,0.0699099538932,0.999999968298,0.000203687109035,-0.000147851282075,7.43487044998e-06,1793244813053387264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.381780197,879,786,805,652,630.618219803,652,0.401663830473,-0.00537458068355,0.0699083344439,0.999999967813,0.000202823907818,-0.000152361034463,4.77838038867e-06,1793244813070053888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.793954817,786,805,652,631,652,0.401800206506,-0.00537636538945,0.0699089536788,0.999999968149,0.000201645189638,-0.000151784789344,1.82458618315e-06,1793244813086720768
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.215525273,786,805,652,631,652,0.401961218472,-0.00537825892605,0.0699136188761,0.999999969935,0.000199896239424,-0.000142016647568,-1.66652392811e-06,1793244813103387648
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.359985326,786,805,652,630.640014674,652,0.402139683138,-0.00538084511521,0.0699175700249,0.999999971755,0.000195375740608,-0.000135231240283,-5.48622512133e-06,1793244813120054272
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.933762447,786,805,652,630.066237553,652,0.402328512809,-0.00538384266419,0.0699210971076,0.999999973577,0.000189209245774,-0.000130217249162,-9.50107370648e-06,1793244813136721152
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.477088269,714,679.477088269,658,634,878.477088269,785.477088269,804.477088269,652,630,652,0.402548918518,-0.00538720195769,0.0699216559585,0.999999975196,0.000181668058947,-0.000128022644231,-1.46366126777e-05,1793244813153387776
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.111391967,714,679.111391967,658,634,878.111391967,785.222783934,804.111391967,652,630,652,0.402780858702,-0.00539084502557,0.0699223615821,0.999999976824,0.000173867776102,-0.000125398017934,-1.99206418151e-05,1793244813170054400
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.688683203,714,679.688683203,658,634,878.688683203,786.377366406,804.688683203,652,630,652,0.403043806395,-0.005395477529,0.0699253012922,0.999999978816,0.000165734190553,-0.000119435858448,-2.52140081368e-05,1793244813186720768
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,657.733902653,634,879,786.733902653,805,651.733902653,630.266097347,652,0.403329462969,-0.0054007126285,0.0699307618657,0.999999981169,0.000157830274569,-0.000108763348986,-3.03783656381e-05,1793244813203387648
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,657.156344683,634,879,786.156344683,805,651.156344683,630.843655317,652,0.403641699734,-0.00540665305211,0.06993917305,0.999999983809,0.000150195181822,-9.25774871228e-05,-3.53917210584e-05,1793244813220054272
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,657.427637277,634,879,786,805,651.427637277,630.572362723,652,0.40397222224,-0.00541191777307,0.069945999373,0.999999986426,0.000137237173488,-8.16006774015e-05,-4.06907824841e-05,1793244813236720896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.986183702,714.013816298,680,658,634,879,785.986183702,805,652,630.013816298,652,0.404310921677,-0.00541697203494,0.0699521891101,0.999999989038,0.00012050171038,-7.26487021891e-05,-4.61068015156e-05,1793244813253387520
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.407662678,714.592337322,680,658,634,879,785.407662678,805,652,630.592337322,652,0.404706421113,-0.00542367534497,0.0699564038285,0.999999995922,3.0126051034e-05,-6.74305806884e-05,-5.19687472284e-05,1793244813270054400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.169807563,714.830192437,679.830192437,658,634,879,785.169807563,805,652,630.830192437,652,0.405109301029,-0.00542829364068,0.0699592773808,0.999999996731,-5.48283158531e-06,-6.28234773316e-05,-5.06049869935e-05,1793244813286721024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.744770585,714.255229415,679.255229415,658,634,879,785.744770585,805,652,630.255229415,652,0.405529790479,-0.0054279371574,0.0699589509529,0.999999993695,8.95800913868e-05,-5.96742453656e-05,-3.20009212641e-05,1793244813303387392
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,630.321473936,651.678526064,0.405968806999,-0.00543100596024,0.06995611913,0.999999990448,0.000119593107374,-6.33962384401e-05,-2.79746985057e-05,1793244813320054016
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,786,805,652,630.89956658,651.10043342,0.406422612918,-0.00543680902045,0.0699512873589,0.999999991961,9.76796135075e-05,-7.26032325301e-05,-3.55853339317e-05,1793244813336720640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.513490232,745,714,679.486509768,658,634,879,786,805.486509768,652,631,651.486509768,0.406897385741,-0.00544675868641,0.0699361836226,0.999999992237,6.80633278172e-05,-9.67356123902e-05,-3.91917455763e-05,1793244813353387264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.074186206,745,714,679.925813794,658,634,879,786,805.925813794,651.925813794,630.925813794,652,0.407391019267,-0.00545968066881,0.0699219353714,0.999999991458,3.84814373952e-05,-0.000117947314442,-4.11245350051e-05,1793244813370054144
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.654174394,745,714,679.345825606,658,634,879,786,805.345825606,651.345825606,630.345825606,652,0.407983187978,-0.0054869234971,0.0699282453465,0.99999999431,2.01764943279e-05,-9.78493185394e-05,-3.73868760478e-05,1793244813386721536
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.230386827,658,634,878.769613173,786,805,651.230386827,630.230386827,652,0.40858428987,-0.0055092506498,0.0699376077498,0.999999996583,-2.99866519296e-06,-7.46001137403e-05,-3.54845906375e-05,1793244813403388672
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.801022961,658,634,878.198977039,786,805,651.801022961,630.801022961,652,0.409198584793,-0.00552431803161,0.0699514781649,0.999999997694,-3.33664560646e-05,-4.66970127934e-05,-3.62928969463e-05,1793244813420055808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.377350622,634,878.377350622,786,805,652,631,652,0.409816082761,-0.00552649607675,0.0699515201551,0.999999997798,-3.32124547853e-05,-4.33009148359e-05,-3.77553059936e-05,1793244813436722432
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.956725366,634,878.956725366,786,805,652,631,652,0.41043529554,-0.00552177349168,0.0699441587507,0.999999997672,-1.67178454088e-05,-5.302525665e-05,-3.95679053369e-05,1793244813453389056
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.452308414,714.547691586,680,659,634,879,785.452308414,805.547691586,652,631,652,0.41108701997,-0.00553544526177,0.0699421253106,0.999999996403,-4.22049935622e-05,-6.20462243117e-05,-3.95348150432e-05,1793244813470054912
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.136386898,714.863613102,680,659,634,879,785.136386898,806,652,630.863613102,652,0.411769788662,-0.00554890803548,0.0699478631671,0.999999995472,-6.58366932898e-05,-5.6229504542e-05,-3.94969325933e-05,1793244813486721024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.714692165,714.285307835,680,659,634,879,785.714692165,806,652,630.285307835,652,0.412544642808,-0.00555688255189,0.0699773879032,0.999999996573,-7.24760124451e-05,-2.5199441113e-06,-3.99262653047e-05,1793244813503387648
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.291908579,786,806,651.708091421,630.291908579,652,0.41331511781,-0.00556275449419,0.0700032063124,0.999999995374,-7.87902699186e-05,3.86732276549e-05,-3.93479400534e-05,1793244813520054016
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.868064783,786,806,651.131935217,630.868064783,652,0.414081328688,-0.00556657904404,0.0700254156685,0.999999993401,-8.47879976377e-05,6.76785016923e-05,-3.7788402285e-05,1793244813536720640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.558204513,651.441795487,631,652,0.414807880553,-0.00553745629954,0.0699996077889,0.999999997587,-5.33667049243e-05,1.79179946135e-05,-4.07115944162e-05,1793244813553387264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.015271567,651.984728433,631,652,0.415524238908,-0.00549926505206,0.0699596229372,0.999999997427,-1.15707590869e-05,-5.46976831323e-05,-4.49383007925e-05,1793244813570053888
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.606308981,651.393691019,631,652,0.416300369829,-0.00548810444252,0.0699228169377,0.999999993114,2.36629549642e-06,-0.000107009324715,-4.81141820487e-05,1793244813586720512
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.193558353,659,634,880,785.806441647,806,651,631,652,0.417115964033,-0.00548653581614,0.0699084838995,0.999999990635,4.58893348754e-06,-0.000127493302887,-4.95461918381e-05,1793244813603387136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.773250831,659,634,880,785.226749169,806,651,631,652,0.418010284425,-0.00550410246408,0.0699389827048,0.999999995166,-1.65577955343e-05,-8.44835212152e-05,-4.7499311243e-05,1793244813620053760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.650086992,659,634,879.650086992,785.349913008,806,651,630.650086992,652,0.418894550877,-0.00551502632328,0.0699678721761,0.999999997426,-3.27164842729e-05,-4.34822994744e-05,-4.67595972293e-05,1793244813636720384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.075371661,659,634,879.075371661,785.924628339,806,651,630.075371661,652,0.419772358121,-0.00552168250871,0.0699957277265,0.999999997852,-4.56705955731e-05,-3.77148279936e-06,-4.68596751004e-05,1793244813653387264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.51010227,659,634,879,786,806,651.51010227,630.51010227,652,0.420660248058,-0.00552892454166,0.0700171953943,0.999999996899,-5.59912540469e-05,3.03885902592e-05,-4.62971920751e-05,1793244813670053632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.903751294,659,634,879.096248706,786,806,652,630.903751294,651.903751294,0.421549013149,-0.00553412128883,0.0700313372168,0.999999995555,-6.3377017258e-05,5.24959463153e-05,-4.60168165083e-05,1793244813686720512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.322400272,659,634,879.677599728,786,806,652,630.322400272,651.322400272,0.422434518283,-0.00552856391663,0.0700134157371,0.99999999702,-5.79740580022e-05,1.80792674195e-05,-4.76623378806e-05,1793244813703387136
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.743795156,786,806,651.743795156,630.256204844,651.256204844,0.423294616015,-0.00551869135091,0.0699638859618,0.999999995528,-5.01900288893e-05,-6.09573968241e-05,-5.20444606292e-05,1793244813720053760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.168608686,786,806,651.168608686,630.831391314,651.831391314,0.424123080999,-0.00550344625743,0.0698750030423,0.999999978313,-3.94415051461e-05,-0.000195547095746,-5.98337221554e-05,1793244813736720384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.406168827,659,634,879,786,806,651.406168827,631,652,0.425042433129,-0.00550495407305,0.0698656344685,0.999999977112,-4.16812673176e-05,-0.000200473684374,-6.20479538422e-05,1793244813753387264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.980776711,659,634,879,786,806,651.980776711,631,652,0.425999476297,-0.00551340935577,0.0698892406643,0.99999998537,-4.93072993615e-05,-0.000151628704621,-6.19502087894e-05,1793244813770053888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.573493519,634,879,786,805.426506481,651.426506481,631,652,0.42695566727,-0.00552359203222,0.0699483972303,0.999999993623,-6.44328032068e-05,-7.24650334857e-05,-5.78943386827e-05,1793244813786720512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.162135856,786,805.162135856,651,630.837864144,652,0.427917379776,-0.00553159790639,0.0700012845515,0.99999999572,-7.48739897308e-05,-5.35791705539e-09,-5.435630119e-05,1793244813803387136
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.738759726,786,805.738759726,651,630.261240274,652,0.428893283015,-0.00553388610272,0.070034999367,0.999999994596,-7.26764880057e-05,5.26333246138e-05,-5.24922968197e-05,1793244813820053760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.31434039,745,714,681,660,634.31434039,880,786,806,651.31434039,630,652,0.429846783741,-0.00553112513529,0.0700447476935,0.999999993993,-6.76804702889e-05,6.82558878865e-05,-5.26707937408e-05,1793244813836720896
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.889056909,745,714,681,660,634.889056909,880,786,806,651.889056909,630,652,0.430781727847,-0.00552418181715,0.0700346439667,0.999999995275,-6.03663708977e-05,5.32170567053e-05,-5.4541146537e-05,1793244813853389056
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.526474295,745,714,681,660,634.526474295,880,786,806.473525705,651.526474295,630.473525705,652,0.431584932922,-0.00552193436242,0.0699624512988,0.999999994182,-5.82613287932e-05,-7.01922112838e-05,-5.7577099843e-05,1793244813870055168
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.059941644,659.940058356,634,880,786,806.940058356,651.059941644,631,652,0.432374373042,-0.00552156250082,0.069886027688,0.999999976502,-5.81092867256e-05,-0.000199867986735,-6.05971689093e-05,1793244813886721024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.64299051,659.35700949,634,880,786,806.35700949,651.64299051,631,652,0.433318710927,-0.00552775553988,0.0699023005543,0.9999999836,-6.41263142319e-05,-0.00015799221544,-6.10452654084e-05,1793244813903387648
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.445389222,634,879.777305389,786,806,651.777305389,631,652,0.434267287572,-0.0055329297507,0.0699374067042,0.99999999145,-7.04263469175e-05,-9.2405217442e-05,-6.0007006778e-05,1793244813920054272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.594232069,634,879.202883965,786,806,651.202883965,631,652,0.435222559116,-0.0055364948117,0.0700022583936,0.999999995363,-7.71733622989e-05,1.06316125273e-05,-5.66211789642e-05,1793244813936720640
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.626996855,634,879.373003145,786,806,651.373003145,631,652,0.436147920251,-0.00553886595249,0.0700308465722,0.999999993832,-7.68824804231e-05,5.7913434879e-05,-5.54214114963e-05,1793244813953387264
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.050309418,634,879.949690582,786,806,651.949690582,631,652,0.437056948275,-0.00554058513397,0.0700396324807,0.999999993025,-7.27484428423e-05,7.47493436432e-05,-5.54153774139e-05,1793244813970054144
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,652,631,652,0.437866928424,-0.0055387282782,0.0700097540965,0.999999994521,-7.53974548298e-05,4.43090713782e-05,-5.75304047502e-05,1793244813986721024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.874709791,634,880,786,806.125290209,652,631,652,0.438646934127,-0.00553678020481,0.0699664517014,0.999999995165,-7.69349689849e-05,-1.26224057942e-05,-5.99327618182e-05,1793244814003387648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.294659972,634,880,786,806.705340028,652,631,652,0.439352503703,-0.00553574160511,0.0698878378599,0.999999984294,-7.20850293411e-05,-0.000149307124114,-6.26422081733e-05,1793244814020054272
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.718166053,880,786,807,651.718166053,631,651.718166053,0.440075753439,-0.00553639480845,0.0698279910428,0.999999964608,-7.34742521996e-05,-0.000247324500351,-6.49295552632e-05,1793244814036720896
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633.145343574,880,786,807,651.145343574,631,651.145343574,0.44081725758,-0.00553879476837,0.0697875208491,0.999999947825,-8.13053004047e-05,-0.000305418527909,-6.6781092965e-05,1793244814053387520
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.996400535,633,880,785.996400535,806,651,631,652,0.442444968287,-0.00553977619299,0.0698671551412,0.999999977774,-7.73456473221e-05,-0.000185305274791,-6.42817881449e-05,1793244814086720512
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.761357052,658,632.238642948,880,785,806,651.761357052,631,652,0.444432637552,-0.00554015523031,0.0698092034761,0.999999947625,-7.78861066173e-05,-0.000307645776479,-6.35407687993e-05,1793244814136721152
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,806.335705087,652,630.664294913,652,0.445048296414,-0.00554050643843,0.0697688543943,0.99999992803,-7.41635683521e-05,-0.000366337042909,-6.50897996083e-05,1793244814153388032
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,632,880,785,806.91002137,652,630.08997863,652,0.445656112396,-0.00554204060712,0.0697312998759,0.999999910266,-6.64984064607e-05,-0.000412955048911,-6.71898400426e-05,1793244814170054656
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.50255664,657.50255664,631.50255664,880,785,806.50255664,652,630,651.50255664,0.446246100549,-0.00555003629492,0.0697165728915,0.999999899938,-8.96429775856e-05,-0.000432942555704,-6.8186279519e-05,1793244814186721280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.914111465,682.085888535,657,631,880,785,806,651.914111465,630,651.085888535,0.446823044299,-0.00555770693711,0.0697046429274,0.999999888946,-0.000112296347467,-0.000452511909325,-6.87804610321e-05,1793244814203387904
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.244467632,682.755532368,657,631,880,784.755532368,806,651.244467632,630,652,0.447859474354,-0.00555646007735,0.0696689339844,0.999999853663,-8.95484188595e-05,-0.000529239449723,-6.75257223661e-05,1793244814236720896
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.819938619,682.180061381,657,631,880,784.180061381,806,651.819938619,630,652,0.448367668279,-0.0055576438724,0.0696599302801,0.999999848067,-8.46629568632e-05,-0.000540614983737,-6.65789550609e-05,1793244814253387776
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682.396270545,656.603729455,631,880,784,806.396270545,652,630,652,0.448870183096,-0.00556201865444,0.069667766552,0.999999854122,-9.85096435957e-05,-0.000527033304881,-6.5478681224e-05,1793244814270054912
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.972994575,656.027005425,631,880,784,806.972994575,652,630,652,0.449370111808,-0.00556784654666,0.0696832714032,0.99999986458,-0.000120886566449,-0.000502086623275,-6.43085035169e-05,1793244814286722048
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683,656,631,880.559383842,784,807,652,630,651.440616158,0.449812342002,-0.00556882628551,0.0696871951549,0.999999869956,-0.000115117509734,-0.000492476363053,-6.55968965213e-05,1793244814303388672
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,630.276300711,880.276300711,784,807,652,630,651.723699289,0.450573945611,-0.00556274500862,0.0696520912028,0.999999841169,-0.000107172120176,-0.000548880192093,-7.00483209407e-05,1793244814336721920
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.206738811,713.206738811,683,654.793261189,629,880,782.206738811,807,652,630,652,0.452357834569,-0.00557172933326,0.069557813168,0.999999768493,-0.000105819102564,-0.000668981947578,-6.54233817634e-05,1793244814436721408
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713,683,654.479069476,629,881,782.479069476,807,651,629.479069476,651.479069476,0.453152034866,-0.00558053017821,0.0695499719307,0.999999752098,-0.000126396975112,-0.00068994488693,-6.16757834297e-05,1793244814503387648
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.198707411,745.801292589,714,683,653,628,880,782,806.198707411,651.198707411,629.801292589,652,0.454155473994,-0.00557820537213,0.0695296780265,0.999999725153,-0.000132100362084,-0.000726775387768,-6.35750442167e-05,1793244814953387264
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.776873357,745.223126643,714,683,653,628,880,782,806.776873357,651.776873357,629.223126643,652,0.454155218838,-0.00557720461891,0.0695291750289,0.999999725435,-0.00012929249467,-0.000726913493722,-6.33288928158e-05,1793244814970053888
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.648062998,745,713.648062998,683.351937002,653,628,880,782,807,652,629,652,0.454154960747,-0.00557799174681,0.0695285020725,0.999999724828,-0.000129772335266,-0.000727675337519,-6.31745288842e-05,1793244814986720512
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.074949034,745,713.074949034,683.925050966,653,628,880,782,807,652,629,652,0.454154700811,-0.00557990247959,0.0695277223045,0.99999972366,-0.000132318356174,-0.000728829173173,-6.30778493583e-05,1793244815003387392
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.513291962,745,713.513291962,683.486708038,653,628,880,781.486708038,807,652,629.513291962,652,0.454154524262,-0.00557851585167,0.069527124081,0.999999723638,-0.000130565221791,-0.000729175042496,-6.30903446831e-05,1793244815020054272
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,683,653,628,880.101295645,781,806.898704355,651.898704355,629.898704355,652,0.454154787958,-0.00557688164047,0.0695268136152,0.999999723953,-0.000128734506904,-0.000729064793866,-6.31301767559e-05,1793244815036720896
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,683,653,628,880.677516091,781,806.322483909,651.322483909,629.322483909,652,0.454157056921,-0.00557641254798,0.0695277242432,0.999999725062,-0.000129572621334,-0.000727385963716,-6.32211667752e-05,1793244815053387776
+246,4.100000000,HOLD_POSE2,764,746,714,684,653,628,881,781,806,652,629,652,0.454156548053,-0.00557803257016,0.0695271579579,0.99999972408,-0.000130353251361,-0.000728622043594,-6.29144756583e-05,1793244815091769344
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+248,4.133333333,HOLD_POSE2,765,745,713,683.178826352,653,628,880,781.821173648,806.178826352,651,629,652,0.454156532964,-0.00557715374086,0.0695265292737,0.999999723739,-0.000129510381117,-0.000729232079124,-6.30118835035e-05,1793244815125103104
+249,4.150000000,HOLD_POSE2,765,745,713,683.757506579,653,628,880,781.242493421,806.757506579,651,629,652,0.454156473656,-0.00557600764013,0.0695269558865,0.999999723927,-0.000127021113673,-0.000729419078922,-6.29251708139e-05,1793244815141769472
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+251,4.183333333,HOLD_POSE2,764.086139414,745,713.913860586,683.086139414,653,628,880,781.913860586,806.086139414,651,629,652,0.454156872569,-0.00557647970212,0.0695282031684,0.999999724021,-0.000129329161441,-0.000728875034886,-6.30301224904e-05,1793244815175102976
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,653.824553657,628,880.824553657,781,806.175446343,652,630,652,0.45415756301,-0.00557573504275,0.0695256975251,0.999999721958,-0.000129107867763,-0.000731783547199,-6.25171654313e-05,1793244815440925184
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.054227393,745.945772607,714,683.054227393,653,628,880.054227393,781,806.054227393,652,630,652,0.454158339495,-0.00557554786475,0.0695257843107,0.999999723209,-0.000128095825618,-0.00073020476869,-6.30454935141e-05,1793244815524257792
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.253085498,682.746914502,654,629.746914502,880,782.746914502,806,652,630,651,0.449293576497,-0.00547347271358,0.0694998128527,0.999999678648,8.61989743612e-05,-0.000796944065675,1.24066989985e-05,1793244815974257664
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.67564201,745,713.32435799,683,654.32435799,630,880.32435799,783,806,652,630,651.32435799,0.44884921441,-0.00546753990029,0.0695235799176,0.999999705325,0.00010972454831,-0.000759597549125,1.79207566342e-05,1793244815990924288
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.773172821,683,655.226827179,631.226827179,880.226827179,784,807,651.226827179,630,652,0.446148987741,-0.00546701806195,0.069524137405,0.999999712245,6.82246541702e-05,-0.00075551836222,6.90458132529e-06,1793244816074257664
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633,879,786,806,652,630.848580398,652,0.426912294983,-0.00541444708601,0.069824725138,0.999999951651,0.000135439901313,-0.000278316538464,2.9900046367e-05,1793244816474258176
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,633.394594388,879,785.605405612,804.394594388,652,630.605405612,652,0.405891563297,-0.00539766131226,0.0698035434318,0.9999999293,0.00016711353449,-0.000335787033004,2.68280075493e-05,1793244816940925696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,658,633.969583415,879,785.030416585,804.969583415,652,630.030416585,652,0.405434631694,-0.00538586420973,0.0697982571375,0.999999922138,0.000185115742284,-0.000347504578353,2.63867932719e-05,1793244816957592064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.44151824,745,714,680,658,634,879.55848176,785.55848176,805,652,630.55848176,652,0.40504107654,-0.00538399991543,0.0698098838072,0.999999929209,0.000190109627859,-0.000323665015943,2.60869964805e-05,1793244816974258176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.854519118,786,805,652,631,652,0.404663188486,-0.00538344273611,0.0698236176574,0.99999993739,0.000191827813382,-0.000296229882945,2.58681216647e-05,1793244816990924288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.275494869,786,805,652,631,652,0.404321440453,-0.00538512754512,0.0698408159105,0.999999947529,0.000185949404533,-0.000263998136392,2.58668612322e-05,1793244817007590912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.698707864,657.698707864,634,879,785.698707864,805,652,631,652,0.403985933432,-0.00538215196632,0.0698481909573,0.999999950066,0.000191583707467,-0.000250037865655,2.53997422849e-05,1793244817024257792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.123951502,657.123951502,634,879,785.123951502,805,652,631,652,0.403656091013,-0.00537494644184,0.0698466500867,0.999999946218,0.000207667386821,-0.000252661484778,2.45097924088e-05,1793244817040924416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.449476389,657.449476389,634,879,785.449476389,805,652,631,652,0.403351659381,-0.00537312742818,0.0698368235749,0.999999942641,0.00020495238919,-0.000268596692581,2.3849810927e-05,1793244817057591040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.976667862,745,714,680,658,634,879,786,805,652,631,652,0.403055360379,-0.00537260377239,0.069824894277,0.999999938728,0.000197554554223,-0.000288056695726,2.32475173431e-05,1793244817074258176
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.383439415,745,714,680,658,634,879,786,805,652,631,652,0.402787047412,-0.00536754443064,0.0698172492028,0.999999933067,0.000202026761786,-0.000304211810747,2.250982674e-05,1793244817090924544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.20473546,745,714,680,658,634,878.79526454,786,805.20473546,652,631,652,0.402534850329,-0.00536420433179,0.0698091343816,0.99999992773,0.000205377756354,-0.000319150074926,2.2417107571e-05,1793244817107591168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.783673665,745,714,680,658,634,878.216326335,786,805.783673665,652,631,652,0.402312108886,-0.00536400655876,0.0698001609868,0.999999923299,0.000206679467082,-0.000331864253107,2.35032271817e-05,1793244817124257792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.639298926,634,878,785.639298926,805.639298926,652,631,652,0.402115606314,-0.00536286584736,0.0697960253257,0.999999921017,0.000207612429621,-0.000338009486121,2.4762563897e-05,1793244817140924416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.0634114,634,878,785.0634114,805.0634114,652,631,652,0.401934757263,-0.00536116259933,0.0697947757508,0.999999920079,0.000208325405111,-0.000340235829924,2.61252382917e-05,1793244817157591040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.522582108,634,878.522582108,785,805,652,630.477417892,652,0.401789569731,-0.00535823098001,0.0697977826558,0.999999919801,0.000216111438854,-0.00033604471913,2.77083401952e-05,1793244817174257664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.108400477,805,652,630.108400477,652,0.40165272582,-0.00535579461836,0.0698008181065,0.999999918292,0.000229933401154,-0.000331199310472,2.92064433281e-05,1793244817190924288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.688021866,805,652,630.688021866,652,0.401532970203,-0.00535617187813,0.0698016881634,0.999999910663,0.000266189301238,-0.000326961476651,3.02164901378e-05,1793244817207591424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.733074614,714,679.733074614,658,634,879,786,805,652,630.733074614,652,0.401424694108,-0.00535612206694,0.0698013219249,0.999999908321,0.000276269911286,-0.000326092144347,2.64149543495e-05,1793244817224258304
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.155007911,714,679.155007911,658,634,879,786,805,652,630.155007911,652,0.401329799112,-0.0053555744409,0.0697995145996,0.999999912959,0.000255839317984,-0.000329149303084,1.70048019465e-05,1793244817240925184
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.417815093,714,679.417815093,658,634,879,786,805,652,630,652,0.401255167643,-0.00536062179553,0.0697992464035,0.999999919932,0.000227218078881,-0.000329205452399,1.14570387121e-05,1793244817257591296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.988716802,714,679.988716802,658,634,879,786,805,652,630,652,0.401187960691,-0.00536771913992,0.0697995421412,0.999999926999,0.000195595803772,-0.000328162037529,7.32444736367e-06,1793244817274257664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.418762563,714,680,657.418762563,634,879,786,805,652,630.581237437,652,0.40114057066,-0.00536456615199,0.0698021676907,0.999999928443,0.000198484019664,-0.000321957749983,7.83541252711e-06,1793244817290924288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.17004419,714,680.17004419,657.17004419,634,878.82995581,786,805,652,631,652,0.401097381217,-0.00536181728344,0.0698047856177,0.999999929453,0.00020186006032,-0.000316658098355,8.61100316751e-06,1793244817307590912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.748874805,714,680.748874805,657.748874805,634,878.251125195,786,805,652,631,652,0.401063329466,-0.00536053675446,0.0698072722938,0.999999929764,0.00020473610131,-0.000313783341999,9.79767955038e-06,1793244817324257792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.675888526,658,634,878.324111474,786,805.324111474,652,630.675888526,651.675888526,0.401035667445,-0.0053606261459,0.069809158639,0.999999930288,0.000206332846296,-0.000311021887142,1.07892297122e-05,1793244817340924416
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.103405888,658,634,878.896594112,786,805.896594112,652,630.103405888,651.103405888,0.40101290196,-0.00536176532641,0.0698105849426,0.999999930979,0.000206949249136,-0.000308347256508,1.16312520427e-05,1793244817357591296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.527333428,652,630.472666572,651.472666572,0.40099978951,-0.0053609822918,0.0698132417722,0.99999993234,0.000207569794453,-0.000303469019881,1.18537251901e-05,1793244817374258176
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.050916059,745,714,679.949083941,657.949083941,634,878.949083941,786,805.050916059,652,631,652,0.400989215332,-0.00536015660649,0.0698160066101,0.999999933794,0.000207833805524,-0.000298452328489,1.19661230941e-05,1793244817390925056
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.643918695,745,714,679.356081305,657.356081305,634,878.356081305,786,805.643918695,652,631,652,0.400983009515,-0.00536338829343,0.0698170333213,0.999999934912,0.000204292191511,-0.000297133439744,1.23606751652e-05,1793244817407591680
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.768814949,745,714,679.231185051,657.231185051,634,878.231185051,786,805.768814949,652,631,652,0.400978170254,-0.00536418299187,0.0698180960203,0.999999935414,0.000204059078274,-0.00029558833633,1.26046733888e-05,1793244817424257792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.190169977,745,714,679.809830023,657.809830023,634,878.809830023,786,805.190169977,652,631,652,0.400975384862,-0.00536131501457,0.069819212807,0.999999934991,0.000208798481475,-0.000293703243319,1.2622396457e-05,1793244817440924416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.613959139,634,879,786,805,652,631,652,0.400974027898,-0.00536259538075,0.0698206903333,0.999999935924,0.000207346192255,-0.000291530853197,1.29739792692e-05,1793244817457591040
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.0389399,634,879,786,805,652,631,652,0.40097337019,-0.00536590648341,0.0698223444521,0.999999937509,0.000202862886973,-0.000289217822724,1.3488996265e-05,1793244817474257408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878.465130348,786,805,652,631,652,0.400974090982,-0.00536584468489,0.0698235917946,0.999999937791,0.000204568496517,-0.000287024644867,1.36868659877e-05,1793244817490924288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878,786,805,652,630.887697057,651.887697057,0.400974712862,-0.00536522835966,0.0698248194782,0.999999938063,0.000206353139331,-0.000284788314228,1.37258762608e-05,1793244817507591168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,634,878,786,805,652,630.294365958,651.294365958,0.400974482179,-0.00536328624408,0.0698260895178,0.999999938726,0.000206550734061,-0.000282329857499,1.31831172134e-05,1793244817524258048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.709128316,657.290871684,634,878.290871684,786,805,652,630.290871684,651.290871684,0.400974294798,-0.00536274251701,0.0698263162867,0.999999939083,0.000205886835703,-0.000281560280086,1.29605357175e-05,1793244817540924672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.131859555,657.868140445,634,878.868140445,786,805,652,630.868140445,651.868140445,0.400974150053,-0.00536357566621,0.069825515834,0.99999993914,0.000204374697007,-0.000282453600928,1.3053206277e-05,1793244817557591552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.451071601,657.548928399,634,879.451071601,786,805,652,631,652,0.400973675807,-0.00536391286942,0.0698256527852,0.999999939034,0.000204055815672,-0.000283060967466,1.3031316477e-05,1793244817574257920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.03534267,634,879.96465733,786,805,652,631,652,0.400973174626,-0.00536405264978,0.0698260577998,0.999999938877,0.000204301825989,-0.000283438641226,1.29941160412e-05,1793244817590924288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.614438884,634,879.385561116,786,805,652,631,652,0.400973759812,-0.00536341390425,0.0698263174706,0.999999938676,0.000207803927865,-0.000281584871617,1.32431410993e-05,1793244817607590912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.400974061727,-0.0053630328412,0.0698268119655,0.999999938705,0.000209704246097,-0.000280066629818,1.33289364774e-05,1793244817624257792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.40097379931,-0.00536316513383,0.0698277742775,0.999999939215,0.000208413486939,-0.000279216827436,1.3089545284e-05,1793244817640924672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.350285685,652,631,651.649714315,0.400974485419,-0.00536355774868,0.0698285678066,0.999999939758,0.000207244193841,-0.000278144300756,1.30231398581e-05,1793244817657591552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.925655134,652,631,651.074344866,0.400975781024,-0.00536411763929,0.0698292528803,0.99999994032,0.000206152951478,-0.000276928657716,1.30678902477e-05,1793244817674258432
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.488784477,652,631,651.511215523,0.400975027327,-0.00536506053832,0.0698291440919,0.999999940414,0.000205223128859,-0.000277272873265,1.32511882178e-05,1793244817690925056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.902991358,785.902991358,805,652,631,652,0.40097399343,-0.00536532079212,0.0698288853676,0.999999940229,0.000205246060867,-0.000277916044092,1.33632310314e-05,1793244817707591424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.323561162,785.323561162,805,652,631,652,0.400973078318,-0.00536190363901,0.069828466822,0.999999938998,0.000209887903589,-0.000278894863798,1.30186868791e-05,1793244817724257792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.255438844,745,714,680,658,634.255438844,878.255438844,785.255438844,805,652,631,652,0.400973666959,-0.0053606821964,0.0698288366664,0.999999938663,0.00021179640088,-0.000278659553063,1.28557282452e-05,1793244817740924416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.833894927,745,714,680,658,634.833894927,878.833894927,785.833894927,805,652,631,652,0.400976157183,-0.00536223735668,0.0698302034758,0.999999939481,0.000210248424896,-0.000276888904068,1.292239499e-05,1793244817757591040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.592320315,745,714,680,658,634.592320315,878.592320315,786,805,652,631,652,0.400976762355,-0.00536261268915,0.0698307435871,0.999999939839,0.000210065410534,-0.000275724607067,1.30351864836e-05,1793244817774257920
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.020417315,745,714,680,658,634.020417315,878.020417315,786,805,652,631,652,0.400976608181,-0.00536251275813,0.0698309506842,0.999999940014,0.000210432236074,-0.000274804563536,1.31665581461e-05,1793244817790924800
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf0d35be568e4a7c5fc73262fba967c36f57210f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+1,0.016666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+5,0.083333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+8,0.133333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+9,0.150000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+10,0.166666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+11,0.183333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+358,5.966666667,pose2_to_pose3_retreat,0.57921090034,-0.000122110538438,1.06005074533,0.54978253385,0.00855357642648,1.05971724051
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+364,6.066666667,pose2_to_pose3_retreat,0.577478745671,-0.000122389947187,1.06005101776,0.548050378904,0.00855329584672,1.05971750665
+365,6.083333333,pose2_to_pose3_retreat,0.577245673393,-0.000122278779636,1.06005104138,0.547817306555,0.0085534065301,1.05971752392
+366,6.100000000,pose2_to_pose3_retreat,0.577031374925,-0.000122211485584,1.06005092223,0.547603007141,0.0085534708335,1.05971741036
+367,6.116666667,pose2_to_pose3_retreat,0.576837223243,-0.000122175131461,1.06005087969,0.547408856734,0.00855351167241,1.05971737204
+368,6.133333333,pose2_to_pose3_retreat,0.576664486168,-0.000122183439874,1.06005100636,0.547236120056,0.00855350493879,1.05971750469
+369,6.150000000,pose2_to_pose3_retreat,0.576512007919,-0.000122160256189,1.06005097639,0.547083640613,0.00855352391662,1.05971747071
+370,6.166666667,pose2_to_pose3_retreat,0.576377516807,-0.00012211123741,1.06005094056,0.546949149,0.00855357109517,1.05971743123
+371,6.183333333,pose2_to_pose3_retreat,0.576258364927,-0.000122118739875,1.06005086346,0.546829997667,0.00855356559918,1.05971735806
+372,6.200000000,pose2_to_pose3_retreat,0.57615422393,-0.000122169156153,1.06005074039,0.546725857024,0.00855351642278,1.05971723663
+373,6.216666667,pose2_to_pose3_retreat,0.576062389333,-0.000122137726887,1.06005107308,0.546634023044,0.00855354968856,1.05971756425
+374,6.233333333,pose2_to_pose3_retreat,0.575982796913,-0.000122183961151,1.0600507953,0.546554430901,0.00855350428963,1.05971728229
+375,6.250000000,pose2_to_pose3_retreat,0.575915657495,-0.000122151071434,1.06005089661,0.546487288479,0.00855352704543,1.0597173848
+376,6.266666667,pose2_to_pose3_retreat,0.575859946618,-0.000122240949222,1.06005109098,0.546431581901,0.0085534518583,1.05971758193
+377,6.283333333,pose2_to_pose3_retreat,0.57581479343,-0.000122117407523,1.0600508346,0.546386426824,0.00855356914536,1.05971732952
+378,6.300000000,pose2_to_pose3_retreat,0.575777793886,-0.000122179615558,1.0600508256,0.546349426792,0.0085535052325,1.0597173192
+379,6.316666667,pose2_to_pose3_retreat,0.575748478953,-0.000122114119967,1.06005088802,0.546320111143,0.00855356815019,1.05971737773
+380,6.333333333,pose2_to_pose3_retreat,0.575725057842,-0.000122015888525,1.06005082257,0.546296689766,0.00855366568285,1.05971731764
+381,6.350000000,pose2_to_pose3_retreat,0.575707266981,-0.000122089536869,1.06005079867,0.546278900219,0.00855359678362,1.05971730139
+382,6.366666667,pose2_to_pose3_retreat,0.575694391141,-0.000122227306005,1.06005108795,0.546266025743,0.00855346311518,1.05971757701
+383,6.383333333,pose2_to_pose3_retreat,0.575685285,-0.000122317295394,1.06005078197,0.546256921348,0.00855337913472,1.05971727332
+384,6.400000000,pose2_to_pose3_retreat,0.575679561891,-0.000122294817062,1.0600510015,0.546251197203,0.00855339793667,1.05971748854
+385,6.416666667,pose2_to_pose3_retreat,0.57567574639,-0.000122255890883,1.06005106615,0.546247380158,0.00855343151931,1.05971755039
+386,6.433333333,pose2_to_pose3_retreat,0.575673484137,-0.000122220932156,1.06005094003,0.546245116443,0.00855346149347,1.05971742375
+387,6.450000000,pose2_to_pose3_retreat,0.575672275847,-0.00012218511178,1.06005099711,0.546243907949,0.0085534967627,1.05971748448
+388,6.466666667,pose2_to_pose3_retreat,0.575671827672,-0.000122166202241,1.06005105909,0.546243459888,0.00855351616007,1.0597175491
+389,6.483333333,pose2_to_pose3_retreat,0.575671710659,-0.00012216126519,1.06005107527,0.546243342905,0.00855352122449,1.05971756597
+390,6.500000000,pose2_to_pose3_retreat,0.575671676062,-0.000122159805432,1.06005108005,0.546243308316,0.00855352272191,1.05971757096
+391,6.516666667,pose2_to_pose3_retreat,0.57567157497,-0.000122155540121,1.06005109403,0.546243207249,0.00855352709726,1.05971758553
+392,6.533333333,pose2_to_pose3_retreat,0.575671521151,-0.000122153269402,1.06005110147,0.546243153445,0.00855352942656,1.05971759329
+393,6.550000000,pose2_to_pose3_retreat,0.575671321753,-0.000122144856316,1.06005112904,0.546242954097,0.00855353805669,1.05971762204
+394,6.566666667,pose2_to_pose3_retreat,0.575671228114,-0.000122140905469,1.06005114199,0.546242860482,0.00855354210946,1.05971763555
+395,6.583333333,pose2_to_pose3_retreat,0.575671197902,-0.000122139630732,1.06005114617,0.546242830277,0.00855354341708,1.0597176399
+396,6.600000000,pose2_to_pose3_retreat,0.575671152435,-0.000122137712411,1.06005115246,0.546242784823,0.0085535453849,1.05971764646
+397,6.616666667,pose2_to_pose3_retreat,0.575671047487,-0.000122133284394,1.06005116697,0.546242679901,0.00855354992715,1.05971766159
+398,6.633333333,pose2_to_pose3_retreat,0.575670714119,-0.000122122150256,1.0600512002,0.54624234666,0.00855356156148,1.05971769663
+399,6.650000000,pose2_to_pose3_retreat,0.575670574499,-0.000122132361598,1.06005114881,0.546242207308,0.00855355225643,1.05971764518
+400,6.666666667,pose2_to_pose3_retreat,0.575670566976,-0.000122132911811,1.06005114604,0.546242199799,0.00855355175505,1.05971764241
+401,6.683333333,pose2_to_pose3_retreat,0.575670487557,-0.00012213872026,1.06005111681,0.546242120532,0.00855354646212,1.05971761315
+402,6.700000000,pose2_to_pose3_retreat,0.575670397402,-0.000122145313929,1.06005108363,0.54624203055,0.00855354045366,1.05971757993
+403,6.716666667,pose2_to_pose3_retreat,0.575670355967,-0.000122148344338,1.06005106838,0.546241989194,0.00855353769221,1.05971756466
+404,6.733333333,pose2_to_pose3_retreat,0.575670164849,-0.000122162322053,1.06005099804,0.546241798443,0.00855352495506,1.05971749424
+405,6.750000000,pose2_to_pose3_retreat,0.575669876828,-0.000122183386984,1.06005089204,0.546241510974,0.00855350575971,1.05971738812
+406,6.766666667,pose2_to_pose3_retreat,0.57566962103,-0.00012217683438,1.06005079047,0.546241253922,0.00855350792707,1.05971728321
+407,6.783333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.0085535275076,1.05971725023
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a0210ff778338131d68d80af3f96c0b72c922cc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d24ca582b255b39ca723c372d17abe7a9a0680486fd0f095f086d65124c8fc7
+size 25647046
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fce70d08be207e7b6875c773b41706b496a84bbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+36,0.600000000,BASELINE,764,745,714,680,658,634,878.097311674,786,805,652,631,652,0.401028155513,-0.00550086796773,0.0798636102557,0.99999998137,0.000113288254602,-0.000149758245027,4.46934862029e-05,1793244819655536384
+37,0.616666667,BASELINE,764,745,714,679.507935698,657.507935698,634,878.492064302,786,805,652,630.507935698,652,0.401028488315,-0.00549976721681,0.0798638469677,0.999999981353,0.000113755110587,-0.000149543319103,4.46201699239e-05,1793244819672203008
+38,0.633333333,BASELINE,764.081425538,745,714,679.081425538,657.081425538,634,879,786,805,652,630.081425538,652,0.401028436381,-0.00549891719111,0.0798637602173,0.999999981283,0.000114128446173,-0.0001497372508,4.4573151608e-05,1793244819688869632
+39,0.650000000,BASELINE,764.657727395,745,714,679.657727395,657.657727395,634,879,786,805,652,630.657727395,652,0.401026227729,-0.00549982975016,0.0798621963983,0.999999980939,0.000114279201106,-0.000151874988551,4.46756992411e-05,1793244819705536256
+40,0.666666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401026014567,-0.00550040475999,0.0798620017178,0.999999980994,0.000113480761949,-0.000152093357511,4.47370525945e-05,1793244819722202880
+41,0.683333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.40102871985,-0.00550048609713,0.0798638094302,0.99999998163,0.000111294107003,-0.000149504610214,4.47381584647e-05,1793244819738869504
+42,0.700000000,BASELINE,765,745,714,680,658,634,879,786,805.388347833,652,631,652,0.401028747996,-0.00549990231679,0.0798639893608,0.999999981362,0.000113587588551,-0.000149517917049,4.49228354009e-05,1793244819755536384
+43,0.716666667,BASELINE,765,745,714,680,658,634,879,786,805.984988323,652,631,652,0.401027340242,-0.00549896179675,0.0798632962209,0.999999980593,0.000118284017856,-0.000150926851078,4.52059717624e-05,1793244819772203008
+44,0.733333333,BASELINE,765.562133729,745,714,680,658,634,878.437866271,786,806,652,631,652,0.401027182828,-0.00549859995091,0.0798629435274,0.999999980584,0.000118190309949,-0.000151208250201,4.47011488889e-05,1793244819788869632
+45,0.750000000,BASELINE,765.722683218,745,714,680,658,634,878.138658391,786,805.861341609,652,631,651.861341609,0.401027028458,-0.00549901909161,0.0798627151587,0.999999980735,0.000116902450112,-0.000151297167489,4.44147884121e-05,1793244819805536256
+46,0.766666667,BASELINE,764.570376107,745,714,680,658,634,878.714811947,786,805.285188053,652,631,651.285188053,0.401026781869,-0.00550185527807,0.0798628513357,0.999999981313,0.000112236884547,-0.00015087058641,4.48818882791e-05,1793244819822203136
+47,0.783333333,BASELINE,764.289972358,745,714,680,658,634,878.710027642,786,805,652,631,651.289972358,0.401026517522,-0.00550148243547,0.0798627193942,0.9999999813,0.000111919703379,-0.000151185516196,4.49046665685e-05,1793244819838869760
+48,0.800000000,BASELINE,764.864159415,745,714,680,658,634,878.135840585,786,805,652,631,651.864159415,0.401026235769,-0.0054979642823,0.079862324658,0.999999980711,0.000115864564992,-0.000152227233437,4.44919457382e-05,1793244819855536384
+49,0.816666667,BASELINE,765,745,714,679.54633261,658,634,878,786,805,652,630.54633261,652,0.401026218629,-0.00549877830649,0.0798624702235,0.99999998068,0.000116255812475,-0.000152097717868,4.46136529466e-05,1793244819872203264
+50,0.833333333,BASELINE,765,745,714.046549395,679,658,634,878.046549395,786.046549395,805,652,630.046549395,652,0.401026411129,-0.00550076022002,0.0798628260358,0.999999980842,0.00011546312707,-0.000151560338879,4.48750729089e-05,1793244819888869632
+51,0.850000000,BASELINE,765,745,714.623770074,679,658,634,878.623770074,786.623770074,805,652,630.623770074,652,0.401028058737,-0.00550075140331,0.0798636699009,0.999999981201,0.000113727736941,-0.000150511019214,4.48411959871e-05,1793244819905536768
+52,0.866666667,BASELINE,764.800266797,745,714.800266797,679.199733203,658,634,878.800266797,786.800266797,804.800266797,652,630.800266797,652,0.401028907568,-0.00550118706294,0.0798641795833,0.9999999815,0.000112075960817,-0.000149750579323,4.4872973895e-05,1793244819922203392
+53,0.883333333,BASELINE,764.226657682,745,714.226657682,679.773342318,658,634,878.226657682,786.226657682,804.226657682,652,630.226657682,652,0.401028261188,-0.00550245472744,0.0798640637168,0.999999981692,0.000110580699902,-0.000149530886787,4.50276495458e-05,1793244819938870016
+54,0.900000000,BASELINE,764,745,714,680,658,634,878.356512202,786,804.356512202,652,630.356512202,652,0.401027648577,-0.00550152034717,0.0798638984542,0.999999981466,0.000112354971385,-0.000149711494182,4.50685257819e-05,1793244819955536640
+55,0.916666667,BASELINE,764,745,714,680,658,634,878.945927955,786,804.945927955,652,630.945927955,652,0.401027058029,-0.00549914740727,0.0798637009218,0.999999980954,0.00011626517461,-0.00015015361094,4.50350587277e-05,1793244819972203008
+56,0.933333333,BASELINE,764.526344021,745,714.526344021,679.473655979,658,634,879,786,805,652,631,652,0.401027464662,-0.00550018412094,0.0798636777127,0.99999998099,0.000114713137081,-0.000151128167575,4.49644805306e-05,1793244819988869888
+57,0.950000000,BASELINE,765,745,714.894757563,679.105242437,658,634,879,786,805,652,631,652,0.401027561712,-0.00550107576164,0.0798634537018,0.999999980983,0.000113459335915,-0.00015214402691,4.48712932752e-05,1793244820005536512
+58,0.966666667,BASELINE,765,745,714.318582834,679.681417166,658,634,879,786,805,652,631,652,0.401025822761,-0.00549977718422,0.0798622523667,0.999999980552,0.000116008822748,-0.00015310405891,4.46937094872e-05,1793244820022203136
+59,0.983333333,BASELINE,765,745,714.256528796,680,658,634,879,786,805,652,631,652,0.401025814763,-0.00549872486341,0.0798622844057,0.999999980495,0.00011767026503,-0.000152229326231,4.46128275932e-05,1793244820038869760
+60,1.000000000,BASELINE,765,745,714.830325691,680,658,634,879,786,805,652,631,652,0.40102794756,-0.00549797710615,0.0798638418495,0.9999999809,0.000118233397399,-0.000149085404753,4.46515440464e-05,1793244820055536384
+61,1.016666667,BASELINE,764.583280354,745,714.583280354,680,658,634,879,786,805,652,631,652,0.40102804094,-0.00549862062002,0.0798638740685,0.999999981038,0.000116785315317,-0.000149332317795,4.45642856696e-05,1793244820072203008
+62,1.033333333,BASELINE,764.008215009,744.991784991,714,679.991784991,658,634,878.991784991,786,805,652,631,652,0.401027267745,-0.00549984173259,0.0798632676775,0.999999981054,0.000114541015988,-0.000150990518617,4.4431410572e-05,1793244820088869632
+63,1.050000000,BASELINE,764.586691994,744.413308006,714,679.413308006,658,634,878.413308006,786,805,652,631,652,0.401025778965,-0.0055006089781,0.0798627840514,0.99999998079,0.000115643184175,-0.000151789136947,4.48035361448e-05,1793244820105536256
+64,1.066666667,BASELINE,765,744.163414644,714,679.163414644,658,634,878,786,805,652,631,652,0.401024841854,-0.00550107513955,0.0798624618674,0.99999998067,0.000115889374574,-0.000152324185923,4.50196300139e-05,1793244820122202880
+65,1.083333333,BASELINE,765,744.735747327,714,679.735747327,658,634,878,786,805,652,631,652,0.401025285205,-0.00550078788802,0.0798625436654,0.999999980915,0.000113993622472,-0.000152199696265,4.48452804035e-05,1793244820138869760
+66,1.100000000,BASELINE,765,745,714,680,658,634,878.308301951,786,805,652,631,652,0.401025650954,-0.00550048079458,0.0798626330888,0.999999980937,0.000114041571836,-0.000152062760659,4.46858829706e-05,1793244820155536640
+67,1.116666667,BASELINE,765,745,714,680,658,634,878.881046911,786,805,652,631,652,0.401025950139,-0.00550015668195,0.0798627290529,0.999999980769,0.000115756712389,-0.000151915149666,4.45393106323e-05,1793244820172203008
+68,1.133333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401025962676,-0.00550041229961,0.0798624346196,0.999999980823,0.000115115650508,-0.000152023656158,4.46260977582e-05,1793244820188869888
+69,1.150000000,BASELINE,765,745,714.07384441,679.92615559,658,634,879,786,805,652,631,652,0.401026161709,-0.00550059537545,0.0798623070878,0.999999980957,0.000114120374221,-0.000151860677565,4.47367021807e-05,1793244820205536512
+70,1.166666667,BASELINE,765,745,714.648703872,679.351296128,658,634,879,786,805,652,631,652,0.401028135878,-0.00549925522736,0.0798640062577,0.999999981243,0.000114912335823,-0.000149400240268,4.45938724936e-05,1793244820222203136
+71,1.183333333,BASELINE,764.777147933,745,714.777147933,679.222852067,658,634,878.777147933,786,805,652,631,652,0.401028500255,-0.00549895343605,0.0798645635668,0.999999981332,0.000114918434046,-0.000148824587565,4.45114140792e-05,1793244820238869760
+72,1.200000000,BASELINE,764.204117301,745,714.204117301,679.795882699,658,634,878.204117301,786,805,652,631,652,0.401026335083,-0.00550028326631,0.0798633266132,0.999999981114,0.000113689666078,-0.000151210590501,4.45238200342e-05,1793244820255536640
+73,1.216666667,BASELINE,764.381290424,745,714,679.618709576,658,634,878,786,805.381290424,652,631,652,0.401025543708,-0.00550078816335,0.079862878768,0.999999980983,0.000113586600463,-0.000152114882655,4.46544347752e-05,1793244820272203264
+74,1.233333333,BASELINE,764.973546275,745,714,679.026453725,658,634,878,786,805.973546275,652,631,652,0.401025512446,-0.00550083663032,0.0798628675313,0.999999980902,0.000114106378466,-0.000152199354051,4.48504536422e-05,1793244820288869888
+75,1.250000000,BASELINE,765,745,714.551747526,679.551747526,658,634,878.551747526,786,805.448252474,652,631,652,0.401025446391,-0.00549992125101,0.0798627155413,0.999999980822,0.000114704532588,-0.000152332590234,4.46454770963e-05,1793244820305536512
+76,1.266666667,BASELINE,765,745.128590013,714.871409987,680,658,634,879,786,805,652,631,652,0.401025608104,-0.00549939776579,0.0798626340576,0.999999980793,0.000115078284562,-0.000152279630279,4.4526888679e-05,1793244820322202880
+77,1.283333333,BASELINE,765,745.70299986,714.29700014,680,658,634,879,786,805,652,631,652,0.401026565128,-0.00550038920849,0.0798628198335,0.999999980937,0.000114661332786,-0.00015157322621,4.47728068123e-05,1793244820338869504
+78,1.300000000,BASELINE,765,745.722535837,714,680,658,634,879,786,805,652,631,652,0.401026483877,-0.00550096141808,0.0798629080604,0.99999998103,0.000114095249154,-0.000151383752768,4.4786131981e-05,1793244820355536128
+79,1.316666667,BASELINE,765,745.148013269,714,680,658,634,879,786,805,652,631,652,0.40102529103,-0.00550108478868,0.0798628918497,0.999999981068,0.00011336950215,-0.00015174771512,4.45504386875e-05,1793244820372202752
+80,1.333333333,BASELINE,764.558000265,745,714,680,658,634,879.441999735,786,805,652,631,652,0.401025252409,-0.00550106216904,0.0798623654385,0.999999981032,0.000113005028517,-0.000152256605315,4.45311615308e-05,1793244820388869632
+81,1.350000000,BASELINE,764.035996677,745,714.035996677,680,658,634,879.964003323,786,805,652,631,652,0.401025567391,-0.0055010626788,0.0798617355377,0.999999980984,0.000112675159893,-0.000152805363383,4.45825502718e-05,1793244820405536000
+82,1.366666667,BASELINE,764.609221577,745,714.609221577,680,658,634,879.390778423,786,805,652,631,652,0.401025181645,-0.00550216450369,0.0798622035847,0.999999981113,0.000110990617621,-0.000153198503769,4.45677063033e-05,1793244820422202880
+83,1.383333333,BASELINE,765,745,714.81647847,679.81647847,658,634,878.81647847,786,805,652,630.81647847,652,0.401025408023,-0.00550274531363,0.0798628401517,0.999999981174,0.000110769887554,-0.000152922283941,4.46945469702e-05,1793244820438869760
+84,1.400000000,BASELINE,765,745,714.239875771,679.239875771,658,634,878.239875771,786,805,652,630.239875771,652,0.401026945499,-0.00550221017207,0.0798638376682,0.999999981087,0.000113684467849,-0.000151212374662,4.51248591776e-05,1793244820455536640
+85,1.416666667,BASELINE,765,745,714.345528142,679.345528142,658.345528142,634,878.345528142,786,805,652,630.345528142,652,0.401027471047,-0.00550132967497,0.0798637992164,0.999999981055,0.000114302522271,-0.000150972309313,4.50875711974e-05,1793244820472203008
+86,1.433333333,BASELINE,765,745,714.937201781,679.937201781,658.937201781,634,878.937201781,786,805,652,630.937201781,652,0.401027275721,-0.00550020315536,0.079863022767,0.999999981065,0.000113284589649,-0.000151779323659,4.47171766602e-05,1793244820488869632
+87,1.450000000,BASELINE,765,745,714.483827365,679.483827365,658.483827365,634,878.483827365,786,805,651.483827365,631,652,0.401026757018,-0.0055005428928,0.0798633179264,0.999999981118,0.000112930163714,-0.000151631237064,4.49317404226e-05,1793244820505536256
+88,1.466666667,BASELINE,765,745,714,679.093212823,658.093212823,634,878.093212823,786,805,651.093212823,630.906787177,652,0.401026144524,-0.00550106844173,0.0798636453751,0.999999981149,0.000112710933454,-0.000151525169624,4.51403803653e-05,1793244820522203136
+89,1.483333333,BASELINE,765,745,714,679.668070665,658.668070665,634,878.668070665,786,805,651.668070665,630.331929335,652,0.401025245806,-0.00550165449477,0.0798634821894,0.999999981043,0.00011278318987,-0.000152222217614,4.49595136555e-05,1793244820538869504
+90,1.500000000,BASELINE,765,745,714,679.756807327,658.756807327,634,878.756807327,786,805,652,630,652,0.401025302733,-0.00550103595889,0.0798635418823,0.999999980919,0.000114282407908,-0.000151973013918,4.47807789599e-05,1793244820555536128
+91,1.516666667,BASELINE,765,745,714,679.181324417,658.181324417,634,878.181324417,786,805,652,630,652,0.401026665419,-0.00549877151346,0.0798639061092,0.99999998076,0.000117731377993,-0.000150430883893,4.46049573906e-05,1793244820572202752
+92,1.533333333,BASELINE,765,745,714,679.405474657,658,634,878,786,805.405474657,652,630.405474657,652,0.401027057819,-0.0054986667278,0.0798638397696,0.999999980735,0.000117769049421,-0.000150635751927,4.43791874674e-05,1793244820588869632
+93,1.550000000,BASELINE,765,745,714,679.997479551,658,634,878,786,805.997479551,652,630.997479551,652,0.401027003857,-0.00549955544879,0.0798635753568,0.999999980773,0.000116237423706,-0.000151644290178,4.4130439821e-05,1793244820605536512
+94,1.566666667,BASELINE,765,745,714,679.423005363,658.576994637,634,878,786,806,652,631,652.576994637,0.40102604359,-0.00549970471659,0.0798630745138,0.999999980712,0.000115920513885,-0.000152193233085,4.4445372089e-05,1793244820622203136
+95,1.583333333,BASELINE,765,745,714,679.299122815,659,634,878,786,805.850438593,652,631,652.850438593,0.401025599509,-0.00549959397185,0.0798629026507,0.999999980733,0.000115690192598,-0.000152193901689,4.45667455506e-05,1793244820638869760
+96,1.600000000,BASELINE,765,745,714,680.406973544,659,634,878,786,805.296513228,652,631,652.296513228,0.401026561496,-0.00549878878843,0.0798636229718,0.999999980976,0.000115679935504,-0.000150717533246,4.41582847454e-05,1793244820655536384
+97,1.616666667,BASELINE,765,745,714,680.723252845,658.723252845,634,878,786,804.723252845,652,631,652,0.40102647707,-0.00549894695992,0.0798637330465,0.999999981087,0.0001146680263,-0.000150820154551,4.39315926066e-05,1793244820672203008
+98,1.633333333,BASELINE,765,745,714,680.127720474,658.127720474,634,878,786,804.127720474,652,631,652,0.401025187281,-0.00550021482055,0.0798631401778,0.999999981042,0.000112502313426,-0.000152741615188,4.39142799289e-05,1793244820688869632
+99,1.650000000,BASELINE,765,745,714,680,658,634,878.466516659,786,804.466516659,652,631,652,0.401025799842,-0.00550026350901,0.0798631990806,0.999999981067,0.000113221334725,-0.000151935782882,4.43052296145e-05,1793244820705536256
+100,1.666666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401026907145,-0.00549993727807,0.0798634782797,0.999999981105,0.000114710235278,-0.000150427926172,4.47443633086e-05,1793244820722203136
+101,1.683333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.401027796893,-0.00549923950884,0.0798641315495,0.999999981127,0.000116042788367,-0.000149296087448,4.46245913291e-05,1793244820738870272
+102,1.700000000,BASELINE,765,745,714.155894796,680,658,634,879,786,805,652,631,651.844105204,0.401027866129,-0.00549904255501,0.0798642763044,0.999999981056,0.000116615458604,-0.000149340220419,4.45770367756e-05,1793244820755536896
+103,1.716666667,BASELINE,765,745,714.767695506,680,658,634,879,786,805,652,631,651.232304494,0.401025535823,-0.00550031020886,0.0798629339352,0.999999980713,0.000114965892225,-0.000152823419326,4.47406782067e-05,1793244820772203008
+104,1.733333333,BASELINE,765,745,714.632223937,680,658,634.367776063,878.632223937,786,805,652,631,651.367776063,0.401024430873,-0.00550043188372,0.0798626600935,0.999999980479,0.000115348588029,-0.000154010181864,4.49066800611e-05,1793244820788869632
+105,1.750000000,BASELINE,765,745,714.039317688,680,658,634.960682312,878.039317688,786,805,652,631,651.960682312,0.401024076011,-0.00549985205991,0.0798630403393,0.999999980317,0.000116975311247,-0.000153791205759,4.50741268394e-05,1793244820805536512
+106,1.766666667,BASELINE,765,745,714,679.457964931,658,634.457964931,879.084070139,786,805,652,630.457964931,652,0.401024811307,-0.00549947507383,0.0798633968333,0.999999980585,0.000116705529839,-0.000152245334635,4.5078427218e-05,1793244820822203136
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878,786,806,652,631,652,0.401026310915,-0.00550035273034,0.0798632032758,0.999999980736,0.000116336650548,-0.000151715527206,4.44651827416e-05,1793244820864567040
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.587666134,786,805.412333866,652,631,652,0.401026193784,-0.00550082675768,0.0798634526239,0.999999980972,0.000113799706233,-0.000152093595502,4.44277161707e-05,1793244820881233664
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.173469541,745,714,680,658,634,878.826530459,786,805,651.826530459,631,652,0.401026315504,-0.00550144114987,0.0798637491743,0.999999981219,0.000111868326613,-0.00015187750026,4.45097551109e-05,1793244820897900288
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.754892438,745,714,680,658,634,878.245107562,786,805,651.245107562,631,652,0.401026998933,-0.00550238564225,0.0798641567316,0.999999981503,0.000111361070549,-0.00015026409345,4.4872838624e-05,1793244820914566912
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.664932775,658,634,878.335067225,786,805,651.335067225,630.664932775,652,0.401027055394,-0.00550184650594,0.0798642642091,0.999999981332,0.000112828339371,-0.00015028249374,4.49447173787e-05,1793244820931233536
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.08566765,658,634,878.91433235,786,805,651.91433235,630.08566765,652,0.401026654919,-0.00550022609695,0.0798641529876,0.999999980824,0.00011573464731,-0.00015149015956,4.48043652948e-05,1793244820947900160
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.511909355,745,714,679.488090645,658,634,878.511909355,786,805,652,630.488090645,652,0.401025789266,-0.00550049402116,0.0798635557826,0.999999980545,0.000116078886963,-0.000153012986527,4.49697926623e-05,1793244820964566784
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062723334,745,714,679.937276666,658,634,878,786.062723334,805,652,631,652,0.401025261137,-0.00550103005547,0.0798631666384,0.999999980362,0.000115754352145,-0.000154396690621,4.51591502656e-05,1793244820981233408
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.652741494,745,714,679.347258506,658,634,878,786.652741494,805,652,631,652,0.401028249176,-0.00550106484424,0.0798652356649,0.999999980655,0.000113545815803,-0.000154150999812,4.51035360629e-05,1793244820997900032
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.237450974,658,634,878.237450974,786.762549026,805,652,631,652,0.401036393589,-0.00550090107889,0.0798691501315,0.999999980924,0.000113211704352,-0.000152645534463,4.5097530324e-05,1793244821014566656
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.81456654,658,634,878.81456654,786.18543346,805,652,631,652,0.401051913996,-0.00550045328944,0.0798757044299,0.999999981152,0.000115558886633,-0.000149338009552,4.51624876108e-05,1793244821031233280
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.401085367478,-0.00550138238964,0.0798876512724,0.99999998294,0.000115481556707,-0.000136905686509,4.51772951725e-05,1793244821047900160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,631,652,0.401127310992,-0.00550296334875,0.0799021511,0.999999985234,0.000114256393536,-0.000120153422721,4.51683604154e-05,1793244821064566784
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.453453965,745,714.546546035,679.453453965,658,634,879,786,805.546546035,652,631,652,0.401191028833,-0.00550357889159,0.0799164563259,0.999999987483,0.00011419142104,-9.9910591864e-05,4.48569258877e-05,1793244821081233408
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714.874336767,679,658,634,879,786,806,652,631,652,0.401259023824,-0.00550434061652,0.0799295013947,0.999999989274,0.000113597242517,-8.12217183859e-05,4.41657717861e-05,1793244821097900032
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714.284733248,679,658,634,879,786,806,652,631,652,0.401338436786,-0.00550583592344,0.0799379331337,0.999999990594,0.000110816266309,-6.89709669937e-05,4.21334701707e-05,1793244821114566656
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.298557216,745,714,679.298557216,658,634,879,786,805.701442784,652,631,652,0.401427015039,-0.00550751274874,0.0799424152188,0.99999999124,0.000109225882565,-6.33521540102e-05,3.96989978781e-05,1793244821131233536
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875951575,745,714,679.875951575,658,634,879,786,805.124048425,652,631,652,0.4015241532,-0.00550935910282,0.0799432085292,0.999999991363,0.000108747451355,-6.3927232437e-05,3.68889189054e-05,1793244821147900160
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.451074135,745,714,680,658,633.548925865,879,786,805,652,630.548925865,652,0.401643978576,-0.00551013355109,0.0799474016534,0.999999991931,0.000107293678555,-5.9327941641e-05,3.32746982675e-05,1793244821164566528
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974406912,745,714,680,658,633.025593088,879,786,805,652,630.025593088,652,0.401771330947,-0.00551059342812,0.0799525075039,0.99999999258,0.000105583359171,-5.3183463012e-05,2.94012261128e-05,1793244821181233152
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399500984,745,714,680,658,633.600499016,879,786,805,652,630.600499016,652,0.401926996127,-0.00551059684187,0.0799572364588,0.999999993298,0.000104094858513,-4.42630813812e-05,2.46860612294e-05,1793244821197900288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.817985445,786,805,652,631,652,0.402090421649,-0.00551118120673,0.0799620425552,0.999999993939,0.000101946775482,-3.65801572932e-05,1.97467303637e-05,1793244821214567168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.221415986,786,805,652,631,652,0.40227152204,-0.0055130887412,0.0799670243479,0.999999994564,9.82964330984e-05,-3.17156578896e-05,1.42968414869e-05,1793244821231233792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.361088697,786,805,652,631,652,0.402470845741,-0.00551588660694,0.0799663820209,0.999999995342,8.95030995786e-05,-3.53433527136e-05,7.4328213572e-06,1793244821247900160
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.93529239,786,805,652,631,652,0.402680924881,-0.00551920994748,0.0799624203318,0.999999996016,7.76743659598e-05,-4.39831506081e-05,-2.65821309449e-07,1793244821264566784
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.508759771,680,658,634,879,786,805,651.491240229,631,652,0.402909567351,-0.00552109565328,0.0799543610512,0.9999999962,6.16242915642e-05,-6.10443065649e-05,-8.73299981332e-06,1793244821281233664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.91495067,680,658,634,879,786,805,651,631,652,0.403148435551,-0.00552286085946,0.0799473404044,0.999999996093,4.13060102309e-05,-7.62857087616e-05,-1.69568730093e-05,1793244821297900288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.321222138,680,658,634,879,786,805,651,631,652,0.403434363042,-0.00552499739334,0.0799496443622,0.999999996975,-1.333831294e-06,-7.42462871195e-05,-2.31417598151e-05,1793244821314566912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.266207889,680,658,634,879,786,805,651.266207889,630.733792111,652,0.403746317931,-0.00552702088611,0.0799528516849,0.999999997141,-1.56984639649e-05,-6.93909298732e-05,-2.56342291302e-05,1793244821331233280
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.8462134,680,658,634,879,786,805,651.8462134,630.1537866,652,0.404088953095,-0.00552891112942,0.0799571238662,0.999999997838,3.26684710403e-06,-6.12162351039e-05,-2.37741906346e-05,1793244821347899904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.577991104,745,714.577991104,680,658,634.422008896,878.577991104,785.577991104,805,652,630,652,0.404461373342,-0.00552803561887,0.07995598134,0.999999997719,7.47491968084e-06,-6.18862871427e-05,-2.60054593342e-05,1793244821364566784
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.003714661,745,714.003714661,680,658,634.996285339,878.003714661,785.003714661,805,652,630,652,0.404844540515,-0.00552616218014,0.0799528851007,0.999999997377,6.35834461931e-06,-6.5747665206e-05,-2.97129370242e-05,1793244821381233664
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.573097596,745,714,680,658,634.426902404,878,785.573097596,805.573097596,652,630.573097596,652,0.405271325205,-0.0055301680531,0.0799552909206,0.999999997877,-5.97111747448e-06,-5.70024842905e-05,-3.09942464806e-05,1793244821397900288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.153442516,786,805.846557484,652,631,652,0.405702380131,-0.00553376370835,0.0799546470353,0.999999997789,-1.75154922813e-05,-5.50912962726e-05,-3.28721268316e-05,1793244821414566912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.743799279,786,805.256200721,652,631,652,0.40614478552,-0.00553608231191,0.0799452173806,0.999999996325,-2.66165305591e-05,-7.28730140741e-05,-3.64936675576e-05,1793244821431233536
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.328126053,658,634,879,786,805,652,631,652,0.406617308032,-0.00554565327697,0.079936178214,0.999999994852,-3.30924640499e-05,-8.93046351365e-05,-3.50107376792e-05,1793244821447899904
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680.907829636,658,634,879,786,805,652,631,652,0.407112921689,-0.00556078470045,0.0799274384374,0.999999993375,-3.75557043844e-05,-0.000104701125396,-2.96141594715e-05,1793244821464566784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680.518780757,658.481219243,634,879,786,805.481219243,652,630.518780757,652,0.407645746453,-0.00556570646966,0.0799235226953,0.999999992101,-4.19942214152e-05,-0.000114528666201,-3.0277648809e-05,1793244821481233408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.94493698,805.94493698,652,630.05506302,652,0.408188693771,-0.00556791386414,0.079920468341,0.999999990896,-4.52661228036e-05,-0.000123014637329,-3.20519405482e-05,1793244821497900288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,785.355088445,805.355088445,652,630.644911555,652,0.408761629206,-0.0055625049831,0.0799169223732,0.999999990464,-3.72529662691e-05,-0.000128696353535,-3.34874624317e-05,1793244821514566912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.769502186,634,879,785,805,652,630.769502186,652,0.409374309389,-0.00556045185041,0.0799276751509,0.99999999256,-3.64285377964e-05,-0.000111130241072,-3.46851165278e-05,1793244821531233280
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.190362904,634,879,785,805,652,630.190362904,652,0.410047105797,-0.00556347448432,0.0799600556206,0.999999996584,-4.6477482722e-05,-5.84004231366e-05,-3.55229814876e-05,1793244821547899904
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.387956345,634.387956345,879,785.387956345,805,652,630.387956345,652,0.410736894878,-0.00556276132535,0.079985854919,0.999999998129,-4.6751404699e-05,-1.6806163244e-05,-3.56888183455e-05,1793244821564566528
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.965874053,634.965874053,879,785.965874053,805,652,630.965874053,652,0.411435004338,-0.0055602189494,0.0800084317707,0.99999999829,-4.2239023251e-05,1.93356110821e-05,-3.5525599147e-05,1793244821581233408
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.539364693,659,634.460635307,879,786,805,652,631,652,0.412115361894,-0.00555521267591,0.0799811465684,0.999999998181,-3.84689476302e-05,-2.71877368184e-05,-3.76747210295e-05,1793244821597900288
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.884265429,659,634,879,786,805,652,631,652,0.412800506271,-0.00555028742341,0.0799515061802,0.999999995755,-3.63827981704e-05,-7.42753525373e-05,-4.06240083621e-05,1793244821614566656
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.294977906,659,634,879,786,805,652,631,652,0.413509795079,-0.00554632636136,0.079925032519,0.999999992842,-4.09961893614e-05,-0.000102445206981,-4.62535869776e-05,1793244821631233280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.289887717,680,658.710112283,634,879,786,805,652,630.710112283,652,0.414260853405,-0.00554537308742,0.0799211474404,0.999999992952,-4.39153260313e-05,-9.92080215313e-05,-4.82297584942e-05,1793244821647899904
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.870321468,680,658.129678532,634,879,786,805,652,630.129678532,652,0.41505377619,-0.00554743443161,0.0799399022385,0.999999995819,-4.51363611787e-05,-6.44924761791e-05,-4.6544226922e-05,1793244821664566784
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.554277857,680.445722143,658.445722143,634,879,786,805.445722143,652,630,652,0.415845873551,-0.00554667106317,0.0799521635374,0.999999996442,-4.39944937641e-05,-5.50198854423e-05,-4.63977271436e-05,1793244821681233408
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.019715187,786,806,652,630.019715187,652,0.416639620625,-0.00554518560011,0.0799619554512,0.999999996612,-4.24413550076e-05,-5.27903618846e-05,-4.67672662242e-05,1793244821697900288
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.594845724,786,806,652,630.594845724,652,0.417486534636,-0.00554625115363,0.0799548087346,0.999999996365,-4.84528361917e-05,-5.00221523895e-05,-4.92010264907e-05,1793244821714566912
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.174567842,681,659.174567842,634,879.825432158,786,806,651.825432158,630.825432158,652,0.418345734038,-0.00554797003249,0.0799592901452,0.999999996769,-5.43906476124e-05,-3.04975390675e-05,-5.07275233291e-05,1793244821731234048
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.765234386,681,659.765234386,634,879.234765614,786,806,651.234765614,630.234765614,652,0.419234216763,-0.00555124617305,0.0799914882797,0.999999996517,-6.01528598176e-05,2.89675226139e-05,-5.0091473069e-05,1793244821747901440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.651211636,681,659.651211636,634,879,786,805.651211636,651.348788364,630.348788364,652,0.420095119803,-0.00555041401602,0.0799934235069,0.999999996353,-5.91293406809e-05,3.49758440367e-05,-5.07311714278e-05,1793244821764567808
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714.072349397,681,659.072349397,634,879,786,805.072349397,651.927650603,630.927650603,652,0.420937830214,-0.00554687187182,0.0799753961851,0.999999997182,-5.36296987108e-05,5.72209417856e-06,-5.22124014514e-05,1793244821781234432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805.503146274,652,630.496853726,652,0.42182342216,-0.00554708837195,0.0799747620377,0.999999997035,-5.66357488534e-05,3.9250114615e-06,-5.20361488212e-05,1793244821797900800
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.078212584,714,681,659,633.921787416,879,785.921787416,806,651.921787416,630.078212584,652,0.422721481935,-0.00554774804067,0.0799799503819,0.999999996851,-5.9578863614e-05,1.02883149348e-05,-5.13985510488e-05,1793244821814567168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.653606109,714,681,659,633.346393891,879,785.346393891,806,651.346393891,630.653606109,652,0.423659860568,-0.00554781201751,0.0800063582067,0.999999996353,-5.4398804397e-05,4.35950260323e-05,-4.93332613229e-05,1793244821831233536
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.762969255,745.762969255,714,681.237030745,659,633.237030745,879,785,806,651,630.762969255,652,0.424553894383,-0.00554653919395,0.0800043565972,0.999999997064,-5.27192465882e-05,2.62545936222e-05,-4.90272002518e-05,1793244821847900416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.167396351,745.167396351,714,681.832603649,659,633.832603649,879,785,806,651,630.167396351,652,0.425380850597,-0.00554324427279,0.0799593817485,0.999999994802,-5.63346857996e-05,-6.76967233535e-05,-5.13822180681e-05,1793244821864567296
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.412207577,745,714,681.587792423,659,634,879,785.412207577,806,651,630.412207577,652,0.426271739176,-0.00554295181444,0.0799346034291,0.999999992703,-5.96997639644e-05,-8.9737073019e-05,-5.45669932224e-05,1793244821881233664
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.985568371,745,714,681.014431629,659,634,879,785.985568371,806,651,630.985568371,652,0.427187622166,-0.00554383317397,0.079917720978,0.999999992831,-6.29669629814e-05,-8.36637084998e-05,-5.80761633194e-05,1793244821897900544
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.561858099,714,681,659,634,879.561858099,785.438141901,806,651.561858099,631,652,0.428088217051,-0.00554600811686,0.079921412557,0.999999992149,-6.55234294525e-05,-9.03307042031e-05,-5.69968446002e-05,1793244821914567168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.858125093,714,681.141874907,659,634,880,785.141874907,806,652,631,652,0.42899589548,-0.00554778540821,0.0799303840062,0.999999992293,-6.68991279886e-05,-8.83547013502e-05,-5.596979207e-05,1793244821931233792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.266533907,714,681.733466093,659,634,880,785.733466093,806,652,631,652,0.42992727859,-0.00554819634708,0.0799544077534,0.999999994696,-6.45901880097e-05,-5.79393147145e-05,-5.54839577902e-05,1793244821947900416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.317302823,682,659.317302823,634,880,786,806,652,631,652,0.430865112132,-0.00554989428943,0.0799888085033,0.999999996322,-6.6332021343e-05,-7.01121797002e-06,-5.3915399552e-05,1793244821964567040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714.894781182,682,659.894781182,634,880,786,806,652,631,652,0.431808234724,-0.00555264752278,0.0800317179764,0.999999994283,-7.13953255562e-05,6.073647343e-05,-5.14590511359e-05,1793244821981233664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.530146877,681.530146877,660,634,880,786,806,651.530146877,631,652,0.432645311236,-0.0055492299788,0.0800089062925,0.999999996195,-6.79015320093e-05,1.70338038513e-05,-5.20460580665e-05,1793244821997900288
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.045515883,659.954484117,634,880,786,806,651,631,652,0.433461360714,-0.00554487345996,0.079970656991,0.999999995297,-6.32242110709e-05,-5.03688809923e-05,-5.35965068965e-05,1793244822014566912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.634637727,659.365362273,634,880,786,806,651,631,652,0.434308460599,-0.00554572259139,0.0799229125288,0.999999990593,-6.71816386959e-05,-0.000104263945698,-5.85553858766e-05,1793244822031233792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.220183146,634,879.779816854,786,806,651.220183146,631,652,0.435165158107,-0.00554736854725,0.0799058316217,0.99999998843,-7.31841694134e-05,-0.000118534553802,-6.11096485707e-05,1793244822047900672
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.799888947,634,879.200111053,786,806,651.799888947,631,652,0.436037527079,-0.00555031558574,0.0799388192203,0.999999992491,-8.25260159512e-05,-6.81049874496e-05,-5.97375715306e-05,1793244822064567296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.376965828,660,634,879.376965828,786,806.376965828,651.623034172,630.623034172,652,0.436875333562,-0.00555168214817,0.0799615995848,0.99999999363,-8.51724492268e-05,-4.57664039894e-05,-5.82334362717e-05,1793244822081233920
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.952656786,660,634,879.952656786,786,806.952656786,651.047343214,630.047343214,652,0.437694919682,-0.00555221553062,0.0799789989982,0.999999994111,-8.42892600394e-05,-3.82365511159e-05,-5.6659683997e-05,1793244822097900288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633.461594214,880,786,806.461594214,651,630.538405786,652,0.438458606021,-0.00555528369077,0.0799673313776,0.999999993332,-8.65609699778e-05,-5.02676633825e-05,-5.75945939205e-05,1793244822114566912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682.876557568,659.876557568,633,880,786,806,651,631,652,0.439207397973,-0.00555787625343,0.0799440659815,0.999999991124,-8.84489000403e-05,-8.03775835002e-05,-5.88916843177e-05,1793244822131233280
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682.297476962,659.297476962,633,880,786,806,651,631,652,0.439919701823,-0.00555787497329,0.079887605836,0.999999979719,-8.78767926417e-05,-0.000170748468143,-6.06958902955e-05,1793244822147899904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.280776546,659,633,880,785.719223454,806.280776546,651,631,652,0.440578111608,-0.00555545688104,0.0798110598022,0.999999951901,-8.60827974734e-05,-0.000291042027157,-6.38872157748e-05,1793244822164566784
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.858156297,659,633,880,785.141843703,806.858156297,651,631,652,0.441179589414,-0.00555048574714,0.0797132956933,0.999999896106,-8.29980389471e-05,-0.000442944916769,-6.85438483625e-05,1793244822181233664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.565570991,683,658.565570991,632.565570991,880.434429009,785,806.565570991,651,631,651.565570991,0.4418385586,-0.00554995760291,0.0796798125787,0.999999875706,-8.34113202394e-05,-0.000486386705349,-7.11204159756e-05,1793244822197900544
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.989437764,745,713,683,658,632,880.989437764,785,806,651,631,651.010562236,0.442516540769,-0.00555092358343,0.0796685919043,0.999999872331,-8.50913241612e-05,-0.000492728583638,-7.29126107844e-05,1793244822214567680
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.401217482,745,713,683,658,632,880.401217482,785,806,651,631,651.598782518,0.443210348173,-0.00555446818015,0.0797299818337,0.999999912474,-9.37440871674e-05,-0.000401900086992,-6.88558484254e-05,1793244822231233792
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,713,683,657.815819109,632,880,785,806.184180891,651,630.815819109,652,0.443879899971,-0.0055574743197,0.0797741237698,0.99999993614,-9.385751935e-05,-0.000338512754079,-6.57312055947e-05,1793244822247900160
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,745,713,683,657.236475078,632,880,785,806.763524922,651,630.236475078,652,0.444497411098,-0.00555932519114,0.0797812598633,0.999999939273,-7.56496793982e-05,-0.000334000879462,-6.46064408433e-05,1793244822264566784
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,745,713,682.659000228,657,632,880.340999772,784.659000228,806.659000228,651.340999772,630,652,0.445063484173,-0.00556077023217,0.0797677900947,0.999999929567,-8.8648792776e-05,-0.000358914900728,-6.47031354357e-05,1793244822281233408
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,745,713,682.082814579,657,632,880.917185421,784.082814579,806.082814579,651.917185421,630,652,0.445594080637,-0.00556193537382,0.0797401085633,0.999999908602,-0.000123171190365,-0.000404123818113,-6.56422644851e-05,1793244822297900032
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,745,713,682.492991534,657,632,880.507008466,784.492991534,806.492991534,652,630,652,0.446096539698,-0.00556301849893,0.0797129886742,0.999999894115,-0.000116458189577,-0.000440093447365,-6.72746992489e-05,1793244822314566912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,745,713,683,657,631.929751503,880,784.929751503,807,652,630,652,0.44659127227,-0.00556431898732,0.079688264714,0.999999881596,-0.000104443024282,-0.000470272739767,-6.88647942344e-05,1793244822331233792
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,713,683,657,631.341322563,880,784.341322563,807,652,630,652,0.447063849859,-0.0055673243821,0.079680518661,0.999999882088,-0.000104373075806,-0.000469179967657,-6.9284150841e-05,1793244822347900416
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,745,713,683,656.756380831,631,880,784,806.756380831,651.756380831,630,652,0.447518267805,-0.00556921571111,0.0796704239296,0.999999876777,-0.00010970238199,-0.000479084618521,-6.99197553116e-05,1793244822364566784
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,713,683,656.176255951,631,880,784,806.176255951,651.176255951,630,652,0.447947602202,-0.0055695682057,0.0796570850218,0.999999862889,-0.000122489557873,-0.000504179763697,-7.08540580481e-05,1793244822381233408
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.400332579,745,713,683.400332579,656,631,880.400332579,783.599667421,806,651,630,652,0.448327895141,-0.00557044361157,0.0796381792805,0.999999845842,-0.000123337338584,-0.000536610074941,-7.17916939373e-05,1793244822397900288
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.975377828,745,713,683.975377828,656,631,880.975377828,783.024622172,806,651,630,652,0.448686785502,-0.0055715472258,0.0796168440672,0.999999826547,-0.000118974543561,-0.000572241592387,-7.2730784495e-05,1793244822414566912
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633.505448971,879,786,805,651,630,652,0.415312959731,-0.00541074778757,0.0797925995909,0.999999918626,0.000200727286812,-0.000346496932322,4.89467261026e-05,1793244824727671808
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.997903176,680.997903176,657.997903176,634,879,786,805,651.997903176,631,652,0.410919384098,-0.00540254843392,0.0797827467735,0.999999910195,0.000222177990031,-0.000357620025074,4.85266648155e-05,1793244824827671808
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.260323433,713.739676567,680,657,634,879,785.260323433,805,651,631,652,0.40903857616,-0.00539797712725,0.0798278023491,0.999999931676,0.000236720900573,-0.000279273446465,5.11612476083e-05,1793244824877671936
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.315224441,744.315224441,714,680,657.315224441,633.684775559,879,785,805,651.315224441,630.684775559,652,0.408456187977,-0.00539814874939,0.0798357663763,0.999999934466,0.000237466458609,-0.000268268343381,5.20595672008e-05,1793244824894338816
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.778342619,744.221657381,713.778342619,680,658,633.221657381,879,785.778342619,804.221657381,652,630.778342619,652,0.40581264458,-0.0053911804227,0.0797788343585,0.999999907107,0.000238312120113,-0.000356084761492,4.68797361845e-05,1793244824977672448
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,745,713.971399978,680,657.028600022,634,879,785.971399978,805,652,630,652,0.404619363808,-0.00539033472996,0.0798238398774,0.99999992828,0.000242117434749,-0.00028706484253,4.91217782253e-05,1793244825027671552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657.55117343,634,879,786,805,652,630.55117343,652,0.404246974852,-0.0053908921433,0.0798259356436,0.999999926039,0.000244720693611,-0.000292208529441,5.14540769754e-05,1793244825044338176
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.129816528,745,714,680,658,633.870183472,879,786,805,652,630.870183472,652,0.403884096121,-0.0053908582856,0.0798274869582,0.99999992439,0.00024467865128,-0.000297706601073,5.21856237593e-05,1793244825061004800
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.706324289,745,714,680,658,633.293675711,879,786,805,652,630.293675711,652,0.403551295139,-0.00538857661244,0.0798284946703,0.999999925608,0.000235321478377,-0.000301965150835,4.71604242721e-05,1793244825077671424
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.71841632,714,680,658,633.28158368,879,785.71841632,804.71841632,652,630,652,0.403248737346,-0.00538917693077,0.0798294735939,0.999999926719,0.000229827436864,-0.000302756942758,4.55941304717e-05,1793244825094338048
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.235226752,633.235226752,879,786,804.235226752,651.764773248,631,652,0.401948427939,-0.00539116606877,0.0798342949967,0.999999928032,0.000239426945495,-0.000290175267132,4.90753042294e-05,1793244825194338560
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,679,657.427950951,634,878.427950951,786,805,652,630,652,0.401060983043,-0.00539137331261,0.0798213278078,0.999999921374,0.000243927085821,-0.000309431992964,4.47606833068e-05,1793244825361004800
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.149047777,744.850952223,714,679,657.149047777,633.850952223,878,785.850952223,805,652,630,652,0.401032281857,-0.00539141051682,0.079822636963,0.999999922153,0.000242816654053,-0.000307778708023,4.47963500903e-05,1793244825377671424
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c01fee75b42cba79c61dd1fe4b1faed5f81b76f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aaad3422319166543ef0a2f98b142c125a3b10b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27333aa073fb40b1fbb4f592e6a4d4a104e43d2f9be2f97fde687b378debbdbb
+size 25773377
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb5949e8b182a0d81e51c4b313fce9bb2125921d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400966406405,-0.00539344326125,0.0798351336983,0.999999928932,0.00024131225733,-0.000286429015559,4.31588469198e-05,1793244826326375168
+22,0.366666667,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400966071984,-0.00539279706388,0.0798343118217,0.999999928394,0.000243246461182,-0.000286642175602,4.33409318151e-05,1793244826343041792
+23,0.383333333,BASELINE,764.660712735,745,714,680,658,634,878.660712735,786,805,651.660712735,631,652,0.400966294395,-0.00539259110308,0.0798342935721,0.999999928365,0.000244210358695,-0.000285905377915,4.34706058651e-05,1793244826359708160
+24,0.400000000,BASELINE,764.069346787,745,714,680,658,634,878.069346787,786,805,651.069346787,631,652,0.400966930515,-0.00539271222274,0.0798348723897,0.999999928713,0.000244453352414,-0.000284462794568,4.35613404919e-05,1793244826376374528
+25,0.416666667,BASELINE,764.510682271,744.489317729,714,680,658,634,878.510682271,785.489317729,805,651.510682271,631,652,0.400965602895,-0.00539218637903,0.0798342580909,0.99999992807,0.000245446986368,-0.000285872383332,4.35000983424e-05,1793244826393040896
+26,0.433333333,BASELINE,765,744,713.911028279,680,658,634,878.911028279,785.088971721,805,652,630.911028279,652,0.400964381028,-0.00539168779151,0.0798337088651,0.999999927443,0.000246357909294,-0.000287294378617,4.34107600549e-05,1793244826409707520
+27,0.450000000,BASELINE,765,744,713.334019846,680,658,634,878.334019846,785.665980154,805,652,630.334019846,652,0.400965170196,-0.0053918101452,0.0798343859904,0.999999927639,0.000246268156748,-0.000286706090365,4.32780492923e-05,1793244826426374144
+28,0.466666667,BASELINE,764.753481367,744.246518633,713.246518633,680,658,634,878.246518633,786,805,652,630.246518633,651.753481367,0.400966809255,-0.00539244358985,0.0798356544783,0.999999928459,0.000245166434713,-0.00028478981575,4.32427794472e-05,1793244826443040768
+29,0.483333333,BASELINE,764.168090408,744.831909592,713.831909592,680,658,634,878.831909592,786,805,652,630.831909592,651.168090408,0.400969616597,-0.00539377959631,0.0798377358719,0.999999930122,0.000242673627349,-0.000281048049024,4.3341454983e-05,1793244826459707392
+30,0.500000000,BASELINE,764.413048915,745,714,680,658,634,878.586951085,786,805,652,631,651.413048915,0.400969112068,-0.00539388001504,0.0798373488432,0.99999992997,0.000242582499336,-0.000281635289592,4.35367515742e-05,1793244826476374016
+31,0.516666667,BASELINE,764.992475646,745,714,680,658,634,878.007524354,786,805,652,631,651.992475646,0.400967273502,-0.00539348273385,0.0798359675238,0.999999929088,0.000243458777792,-0.000283966272349,4.3770967525e-05,1793244826493040640
+32,0.533333333,BASELINE,765,745,714,680,658,634,878.570063355,786,805,652,631,652,0.400967575714,-0.00539197776996,0.0798361243445,0.999999928396,0.000245935446063,-0.000284269490082,4.37551802992e-05,1793244826509707264
+33,0.550000000,BASELINE,765,745,714,679.852795598,658,634,879,786,805,652,631,652,0.400967569058,-0.00539126568206,0.0798360568856,0.999999927905,0.000247573028981,-0.000284572573482,4.37705289582e-05,1793244826526374144
+34,0.566666667,BASELINE,765,745,714,679.276885009,658,634,879,786,805,652,631,652,0.400966580849,-0.00539290514485,0.0798352773168,0.999999928006,0.000246705605791,-0.000284952962555,4.3886134509e-05,1793244826543040768
+35,0.583333333,BASELINE,765,745,714,679,658,634,879.304511924,785.695488076,805,651.695488076,631,652,0.400966540788,-0.00539333859824,0.0798352639586,0.999999928268,0.000246069390013,-0.000284615204532,4.3671688901e-05,1793244826559707648
+36,0.600000000,BASELINE,765,745,714,679,658,634,879.890989048,785.109010952,805,651.109010952,631,652,0.400967378672,-0.00539265533797,0.079835960079,0.99999992868,0.000245647262447,-0.000283612472626,4.31516298536e-05,1793244826576375040
+37,0.616666667,BASELINE,765,745,714,679.472695845,658,634,879.527304155,785.472695845,805,651.472695845,631,652,0.400967981707,-0.00539314194014,0.0798363103497,0.999999929078,0.000244655315983,-0.0002830361219,4.33323428441e-05,1793244826593041920
+38,0.633333333,BASELINE,764.947127037,745,714,680,658,634,879,786,805,651.947127037,630.947127037,652,0.40096843818,-0.00539373434674,0.0798365630193,0.999999929406,0.000243761511821,-0.000282605806871,4.36245046249e-05,1793244826609708800
+39,0.650000000,BASELINE,764.37130694,745,714,680,658,634,879,786,805,651.37130694,630.37130694,652,0.4009679754,-0.00539273150867,0.0798366313315,0.999999929066,0.000245125129749,-0.000282657047022,4.34365215559e-05,1793244826626374912
+40,0.666666667,BASELINE,764,745,714,680,658,633.793019328,878.793019328,785.793019328,805,651,630.206980672,652,0.400967585068,-0.00539236690787,0.0798362125616,0.999999928813,0.000245572583639,-0.000283182931277,4.33041282148e-05,1793244826643041024
+41,0.683333333,BASELINE,764,745,714,680,658,633.210251816,878.210251816,785.210251816,805,651,630.789748184,652,0.400967326274,-0.0053931610683,0.0798349094625,0.999999928718,0.00024435668218,-0.000284570562699,4.32726616435e-05,1793244826659707904
+42,0.700000000,BASELINE,764.372493291,745,714,680,658,633.372493291,878,785.372493291,805,651.372493291,630.627506709,652,0.400967446532,-0.00539346676885,0.0798350914525,0.999999928859,0.000244205773798,-0.000284193895419,4.33515537259e-05,1793244826676374528
+43,0.716666667,BASELINE,764.955225731,745,714,680,658,633.955225731,878,785.955225731,805,651.955225731,630.044774269,652,0.400967780732,-0.00539349677746,0.0798361116427,0.999999929132,0.000244655958804,-0.00028282143926,4.34927333999e-05,1793244826693040896
+44,0.733333333,BASELINE,765,745,714,680,658,634,878.534539098,786,805,652,630.534539098,652,0.400968348615,-0.00539289953256,0.0798368639729,0.999999929265,0.000244949635269,-0.000282112322297,4.33786698793e-05,1793244826709708032
+45,0.750000000,BASELINE,765,745,714.112812894,679.887187106,658,634,878.887187106,786,805,652,631,652,0.400968435527,-0.00539241018516,0.0798371376083,0.999999929231,0.000245026607991,-0.000282181768559,4.3281131752e-05,1793244826726375168
+46,0.766666667,BASELINE,765,745,714.687992138,679.312007862,658,634,878.312007862,786,805,652,631,652,0.400966471449,-0.00539257702733,0.0798355406735,0.999999928553,0.000244268803377,-0.000285215896618,4.33383919992e-05,1793244826743042048
+47,0.783333333,BASELINE,765,745,714.731325656,679.268674344,658,634,878,786,805,652,631,652,0.400965637258,-0.00539270666668,0.0798352889092,0.999999928306,0.0002443511557,-0.00028599245705,4.345356965e-05,1793244826759708416
+48,0.800000000,BASELINE,765,745,714.144119232,679.855880768,658,634,878,786,805,652,631,652,0.400966142626,-0.00539279219953,0.0798366319378,0.999999928576,0.000245429572273,-0.0002840925148,4.363741241e-05,1793244826776374528
+49,0.816666667,BASELINE,764.562920117,745,714,680,658,634,878.437079883,786,804.562920117,651.562920117,631,652,0.400966787617,-0.0053926238007,0.0798366386592,0.999999928831,0.000245204821311,-0.000283397982235,4.35780299595e-05,1793244826793040896
+50,0.833333333,BASELINE,764.016298803,745,714,680,658,633.983701197,879.016298803,786,804.016298803,651.016298803,631,652,0.400967452114,-0.00539238177399,0.0798362264738,0.999999929072,0.000244577476839,-0.000283107405598,4.34411449687e-05,1793244826809707520
+51,0.850000000,BASELINE,764.594613863,745,714,680,658,633.405386137,879.594613863,786,804.594613863,651.594613863,631,652,0.400967223193,-0.00539244892473,0.0798363571269,0.999999929016,0.000244683798823,-0.000283226561024,4.33597506803e-05,1793244826826374144
+52,0.866666667,BASELINE,765,745,714,680.170829106,658,633.170829106,879.829170894,786,804.829170894,651.829170894,631,652,0.400966993802,-0.00539226191097,0.0798364439023,0.999999928899,0.000245039746742,-0.000283341325421,4.33097033615e-05,1793244826843040768
+53,0.883333333,BASELINE,765,745,714,680.74212185,658,633.74212185,879.25787815,786,804.25787815,651.25787815,631,652,0.40096676331,-0.00539147907581,0.0798364278179,0.999999928637,0.000245980876614,-0.000283445796212,4.33331407236e-05,1793244826859707648
+54,0.900000000,BASELINE,764.675920219,745,714,680.675920219,658,634,879,786,804.324079781,651.324079781,631,652,0.4009666797,-0.00539211421416,0.0798363368955,0.999999928817,0.000245064447789,-0.000283599922161,4.33738678772e-05,1793244826876375040
+55,0.916666667,BASELINE,764.08518698,745,714,680.08518698,658,634,879,786,804.91481302,651.91481302,631,652,0.400966716944,-0.00539391606384,0.0798361843962,0.999999929355,0.000242619616102,-0.00028379490446,4.34288211024e-05,1793244826893041920
+56,0.933333333,BASELINE,764.496434558,745,714,680,658,634,879,786,805,651.503565442,631,652,0.400966552828,-0.00539457673002,0.0798358856047,0.999999929554,0.000241429022594,-0.000284106884677,4.34525020434e-05,1793244826909708288
+57,0.950000000,BASELINE,765,745,714,680,657.923958231,634,878.923958231,786,805,651.076041769,631,652,0.400966478437,-0.00539469692369,0.0798356444497,0.999999929633,0.000240878775204,-0.000284299439235,4.3410961699e-05,1793244826926374400
+58,0.966666667,BASELINE,765,745,714,680,657.347503231,634,878.347503231,786,805,651.652496769,631,652,0.400967217792,-0.00539252584124,0.079835944809,0.999999929307,0.000243151683896,-0.00028357634315,4.29748927605e-05,1793244826943041280
+59,0.983333333,BASELINE,765,745,714,680,657.454519032,634,878,785.772740484,805,652,630.772740484,652,0.400967621998,-0.00539178864499,0.0798361123993,0.99999992928,0.000243717163682,-0.000283221531423,4.27402711346e-05,1793244826959707904
+60,1.000000000,BASELINE,765,745,714,680,658.59890769,634,878,785.200546155,805,652,630.200546155,652,0.400967517515,-0.00539322780288,0.0798360784727,0.999999929711,0.000241691105811,-0.000283425702105,4.28114064581e-05,1793244826976374528
+61,1.016666667,BASELINE,765,745,714,680,658.614973822,634,878.385026178,785.770052356,805,651.614973822,630.385026178,652,0.400966480389,-0.00539332491851,0.0798357387326,0.999999929493,0.000241822067771,-0.000284091233085,4.27509330902e-05,1793244826993041152
+62,1.033333333,BASELINE,765,745,714,680,658.022182581,634,878.977817419,786.955634838,805,651.022182581,630.977817419,652,0.400964939996,-0.00539269785082,0.0798352339714,0.999999928925,0.00024311698541,-0.000285005719987,4.26194419805e-05,1793244827009708032
+63,1.050000000,BASELINE,765,745,714,680,658,634,879,786.445047629,805,651.554952371,631,652,0.400966304558,-0.00539328384487,0.0798357678768,0.999999929383,0.000242613251297,-0.000283817978853,4.267463568e-05,1793244827026374656
+64,1.066666667,BASELINE,764.868134841,745,714,679.868134841,658,634,878.868134841,786.131865159,805.131865159,651.868134841,631,652,0.400967357696,-0.00539401543981,0.0798361452903,0.999999929761,0.000242099761831,-0.000282904976727,4.27819071936e-05,1793244827043041280
+65,1.083333333,BASELINE,764.289913875,745,714,679.289913875,658,634,878.289913875,786.710086125,805.710086125,651.289913875,631,652,0.400966974417,-0.00539508025768,0.079835856309,0.999999929742,0.000241789936748,-0.000283198583491,4.30408930768e-05,1793244827059707648
+66,1.100000000,BASELINE,764.292533541,745,714,679.292533541,658,634,878.292533541,786.707466459,805.707466459,651.292533541,630.707466459,652,0.400967127011,-0.00539396748016,0.0798359200948,0.999999929279,0.000243485791968,-0.000283366878649,4.31228984092e-05,1793244827076374272
+67,1.116666667,BASELINE,764.879230927,745,714,679.879230927,658,634,878.879230927,786.120769073,805.120769073,651.879230927,630.120769073,652,0.400967818464,-0.00539066497134,0.0798363386137,0.99999992836,0.000247198505257,-0.000283409163811,4.3026936854e-05,1793244827093040896
+68,1.133333333,BASELINE,764.537825672,745,714,680,658.462174328,634,879,786,805.462174328,652,630.462174328,652,0.400966766373,-0.00539151835059,0.0798360052993,0.999999928351,0.000246424688062,-0.000284101685498,4.31227867717e-05,1793244827109707520
+69,1.150000000,BASELINE,764,745,714,679.956423916,658.956423916,634,879,786,805.956423916,652,631,652,0.400965486836,-0.00539333202213,0.0798355620207,0.999999928619,0.000244508626091,-0.000284797324845,4.32273497541e-05,1793244827126374144
+70,1.166666667,BASELINE,764,745,714,679.381950183,658.381950183,634,879,786,805.381950183,652,631,652,0.400966942247,-0.00539372125316,0.0798361532435,0.999999929416,0.000242844372669,-0.000283477560575,4.28323432585e-05,1793244827143041280
+71,1.183333333,BASELINE,764.19296217,745,714,679.19296217,658,634,879,786,805,652,631,652,0.400967883274,-0.00539417391783,0.079836683317,0.999999929964,0.000241882377597,-0.000282368820899,4.28198528928e-05,1793244827159708160
+72,1.200000000,BASELINE,764.768744808,745,714,679.768744808,658,634,879,786,805,652,631,652,0.400967803806,-0.0053947524295,0.0798370920754,0.999999930022,0.000242313602827,-0.000281678735763,4.3566241796e-05,1793244827176374784
+73,1.216666667,BASELINE,765,745,714,680,658,634,878.648471088,786,805,651.648471088,631,652,0.400968147695,-0.00539421135465,0.0798376586524,0.999999930007,0.000243208753386,-0.000280946068299,4.36414451294e-05,1793244827193041664
+74,1.233333333,BASELINE,765,745,714,680,658,634,878.060987465,786,805,651.060987465,631,652,0.400968775752,-0.0053929187862,0.0798383311608,0.999999929943,0.000244415301823,-0.000280184818587,4.32661324239e-05,1793244827209708544
+75,1.250000000,BASELINE,765,745,714,680,658,634,878,786,805.52121287,651.52121287,631,652,0.400967722026,-0.00539277605,0.079837416299,0.999999929415,0.000244697996708,-0.000281813290196,4.32956610513e-05,1793244827226374656
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.101643911,786,805.898356089,652,631,651.898356089,0.40096680724,-0.00539290744532,0.0798366070053,0.999999929038,0.000244658992094,-0.000283179300314,4.33104362416e-05,1793244827243041024
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.67668494,786,805.32331506,652,631,651.32331506,0.40096744687,-0.00539369525094,0.0798371457674,0.999999929627,0.000243620118697,-0.000282033671063,4.30380876865e-05,1793244827259707648
+78,1.300000000,BASELINE,765,745,714,680,658,634,879,786,805,651.743758079,631,651.256241921,0.400967952468,-0.00539331775179,0.0798375388149,0.999999929862,0.000243500311563,-0.00028132353751,4.29038741652e-05,1793244827276374528
+79,1.316666667,BASELINE,765,745,714,680,658,634,879,786,805,651.158400885,631,651.841599115,0.400968285917,-0.00539144354355,0.0798377447076,0.999999929644,0.00024456094658,-0.000281172751574,4.2947080305e-05,1793244827293041152
+80,1.333333333,BASELINE,765,745,714,680,658,634,879,786.422476114,805,651,630.577523886,652,0.400968913307,-0.00539200472705,0.0798380523493,0.999999929859,0.000244409620758,-0.000280544359207,4.29067347406e-05,1793244827309708032
+81,1.350000000,BASELINE,765,745,714,680,657.998306347,634,878.998306347,786.998306347,805,651,630.001693653,652,0.400969641387,-0.00539346390503,0.0798383920116,0.99999993023,0.000243814957223,-0.000279749488846,4.2836197608e-05,1793244827326374912
+82,1.366666667,BASELINE,765,745,714,680,657.41818494,634,878.41818494,786.41818494,805,651,630.58181506,652,0.400967513421,-0.00539303221606,0.0798367752727,0.999999929035,0.000245371938141,-0.00028261379149,4.30409783062e-05,1793244827343041280
+83,1.383333333,BASELINE,765,745,714,679.839985648,657.160014352,634,878.160014352,786,805,651.160014352,631,652,0.400966176637,-0.00539300692454,0.0798358752153,0.999999928355,0.000246169010588,-0.00028429987764,4.31758683642e-05,1793244827359707648
+84,1.400000000,BASELINE,765,745,714,679.266749905,657.733250095,634,878.733250095,786,805,651.733250095,631,652,0.400966883003,-0.00539403111455,0.0798368259174,0.999999929028,0.000245003694184,-0.000282943335718,4.31302727341e-05,1793244827376374272
+85,1.416666667,BASELINE,765,745,714,679,658,634,879,786,804.693437687,651.693437687,631,652,0.400967104822,-0.0053942464269,0.079837110773,0.999999929478,0.000243723888335,-0.00028246855203,4.30630980575e-05,1793244827393041152
+86,1.433333333,BASELINE,765,745,714,679,658,634,879,786,804.120058943,651.120058943,631,652,0.400966904914,-0.00539375773271,0.0798368161093,0.999999929734,0.000242344436699,-0.000282761206477,4.29771420661e-05,1793244827409707776
+87,1.450000000,BASELINE,764.528184132,745,714,679.471815868,658,634,879,786,804,651,631,652,0.400967165863,-0.00539294972193,0.0798367750179,0.999999929607,0.000243653695597,-0.000282090363896,4.29444426827e-05,1793244827426374656
+88,1.466666667,BASELINE,764.066158611,745,714,680,658,634,879.066158611,786,804.066158611,651.066158611,631,652,0.400967594079,-0.0053921715794,0.0798368795525,0.99999992944,0.000245382311909,-0.000281184429085,4.29194530802e-05,1793244827443041536
+89,1.483333333,BASELINE,764.641783816,745,714,680,658,634,879.641783816,786,804.641783816,651.641783816,631,652,0.40096837046,-0.00539227468216,0.0798375883517,0.999999929783,0.000244856699828,-0.000280433154718,4.2845218353e-05,1793244827459708416
+90,1.500000000,BASELINE,764.791022086,745,714,680,658,634,879.791022086,786,805,651.791022086,631,652,0.400968585552,-0.00539262226484,0.0798378136517,0.999999929875,0.000244322842625,-0.000280555174644,4.29564503554e-05,1793244827476375040
+91,1.516666667,BASELINE,764.237719641,745,714,680,658,634,879.237719641,786,805,651.237719641,631,652,0.400967875831,-0.00539337266728,0.0798372423094,0.999999929551,0.000243775400317,-0.000282116086646,4.33732684604e-05,1793244827493041152
+92,1.533333333,BASELINE,764.351446578,745,714,680,658,634,879,785.648553422,805,651.351446578,631,652,0.400967692635,-0.00539300072334,0.0798370430641,0.999999929261,0.000244500436972,-0.000282522135769,4.33493089068e-05,1793244827509707520
+93,1.550000000,BASELINE,764.967628033,745,714,680,658,634,879,785.032371967,805,651.967628033,631,652,0.400967906055,-0.00539178334735,0.0798371241089,0.999999928994,0.000246183996377,-0.000282058259156,4.29933239172e-05,1793244827526373888
+94,1.566666667,BASELINE,765,745,714,680,658,634,879,785.548687595,805,652,630.451312405,652,0.400967245967,-0.00539365441864,0.0798373844459,0.999999929593,0.000243746113346,-0.000282045268235,4.30481607793e-05,1793244827543040512
+95,1.583333333,BASELINE,765,745,714,680,657.87374224,634,879,786,805,652,630.12625776,651.87374224,0.400966500438,-0.00539502877623,0.0798373075577,0.999999929936,0.000241858987542,-0.000282449629097,4.30534423334e-05,1793244827559707136
+96,1.600000000,BASELINE,765,745,714,680,657.301617011,634,879,786,805,652,630.698382989,651.301617011,0.400965624227,-0.00539404427248,0.0798360046824,0.99999992923,0.000242723848324,-0.000284239538626,4.28032789514e-05,1793244827576373760
+97,1.616666667,BASELINE,765,745,714,680,657.278763087,634,879,786,805,652,631,651.278763087,0.400966257838,-0.00539264069835,0.079835985728,0.999999928859,0.000244538469957,-0.000284011120809,4.26599788883e-05,1793244827593040640
+98,1.633333333,BASELINE,765,745,714,680,657.86834734,634,879,786,805,652,631,651.86834734,0.400968574902,-0.00539076986031,0.0798373983467,0.999999928855,0.000247412075989,-0.000281532265543,4.26358315647e-05,1793244827609707520
+99,1.650000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400966955852,-0.00539191986611,0.0798366377071,0.999999928797,0.000246226291871,-0.000282721601958,4.29688226226e-05,1793244827626373888
+100,1.666666667,BASELINE,764.970388018,745,714,679.970388018,658,634,878.970388018,786,805,652,631,652,0.400964465036,-0.00539377937745,0.0798353974216,0.999999928736,0.000244069935321,-0.000284741174729,4.33725391564e-05,1793244827643040768
+101,1.683333333,BASELINE,764.393663663,745,714,679.393663663,658,634,878.393663663,786,805,652,631,652,0.400966775108,-0.00539270176282,0.0798368389952,0.999999928986,0.000245543724849,-0.000282615696224,4.31859512156e-05,1793244827659707392
+102,1.700000000,BASELINE,764,745,714,679.182819818,658,634,878,786,805,652,631,652,0.400967918754,-0.00539238458371,0.0798374280817,0.999999929153,0.000246122064435,-0.000281540023394,4.30399832786e-05,1793244827676374016
+103,1.716666667,BASELINE,764,745,714,679.758785238,658,634,878,786,805,652,631,652,0.400966554049,-0.00539370268634,0.0798361839342,0.999999929153,0.000244774779959,-0.000282721909611,4.29813668139e-05,1793244827693040640
+104,1.733333333,BASELINE,764,745,714,679.657785517,658,634,878.342214483,786,805,652,631,652,0.400966704525,-0.0053940541381,0.0798361958043,0.999999929507,0.000243409097447,-0.000282654755352,4.29480449397e-05,1793244827709707264
+105,1.750000000,BASELINE,764,745,714,679.068977925,658,634,878.931022075,786,805,652,631,652,0.400967946811,-0.00539370904018,0.0798371127361,0.999999930115,0.000242030157527,-0.000281687566907,4.29329498501e-05,1793244827726373888
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,652,631,651,0.400965600112,-0.00539351154808,0.079835998807,0.999999929177,0.000242705285545,-0.000284332602683,4.35419621027e-05,1793244827757107968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.424272178,634,878.424272178,786,804.424272178,651.424272178,631,651.575727822,0.400965746427,-0.00539545624674,0.0798358243987,0.99999992938,0.000241483466586,-0.000284636623468,4.36850391079e-05,1793244827773774592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,804.150754675,651.150754675,630.849245325,652,0.400965882518,-0.00539586872981,0.0798356928093,0.999999929305,0.000241830412143,-0.000284609563805,4.36601783046e-05,1793244827790441216
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,804.723818034,651.723818034,630.276181966,652,0.400965989968,-0.00539198902169,0.0798356811681,0.999999928439,0.000246571933446,-0.000283655049393,4.316487378e-05,1793244827807107840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.692972308,745,714,680,658.307027692,634,878.307027692,786,805,652,630.307027692,652,0.400965575475,-0.00539154993773,0.0798355723585,0.999999928549,0.000245998186658,-0.000283802425082,4.29373954607e-05,1793244827823774720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.100323814,745,714,680,658.899676186,634,878.899676186,786,805,652,630.899676186,652,0.400964675432,-0.00539431158753,0.0798353731554,0.999999929557,0.000240479767918,-0.000284974863847,4.29590697305e-05,1793244827840441344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.481298525,745,714,680,658.518701475,634,879,786,805,652,630.518701475,652,0.400965881684,-0.00539419963836,0.0798362221023,0.999999930113,0.000240334524995,-0.000283144377554,4.29159492338e-05,1793244827857107712
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.939886517,786,805.060113483,652,630.060113483,652,0.400967307058,-0.00539348742646,0.0798371225248,0.999999930416,0.000241397896311,-0.000281172929376,4.28481556625e-05,1793244827873774592
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.365863397,786,805.634136603,652,630.634136603,652,0.400966936372,-0.00539264960376,0.0798366370535,0.99999992935,0.000243433215271,-0.000283227725244,4.2682309648e-05,1793244827890441216
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.213223588,680,658,634,878.213223588,786,805.786776412,652,631,652,0.400970676316,-0.00539240680654,0.079838417499,0.999999929675,0.000244827827034,-0.000280858693621,4.2741874361e-05,1793244827907107840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.801210804,680,658,634,878.801210804,786,805.198789196,652,631,652,0.400981641139,-0.00539320983135,0.0798441805397,0.999999932388,0.000245096326034,-0.000270714304155,4.31976229408e-05,1793244827923774464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.616015347,680,658,634,879,786,805.383984653,652,631,652,0.401004525482,-0.00539492742457,0.0798535681498,0.999999937395,0.000242411393529,-0.000254093095201,4.34094019477e-05,1793244827940441344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.035904258,680,658,634,879,786,805.964095742,652,631,652,0.401033497917,-0.00539711214863,0.0798648070686,0.999999943264,0.000238217947572,-0.000234163743862,4.34965695368e-05,1793244827957108224
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.46036474,745,714,680,658,634,879,786,805.46036474,652,631,652,0.401091797609,-0.00539611741908,0.0798847408433,0.999999951319,0.000240500140306,-0.000193987579038,4.34851938464e-05,1793244827973775360
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.22946031,745,714,680,658,634,878.885269845,786,805,652,631,652,0.401155109375,-0.00539579973792,0.0799044868292,0.999999957636,0.000242325301537,-0.000155329076459,4.33458678665e-05,1793244827990441984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.378504177,745,714,680,658,634,878.310747911,786,805,652,631,652,0.401230753319,-0.00539903604642,0.0799211812982,0.999999961936,0.000240606693414,-0.000128106043748,4.27198245131e-05,1793244828007108096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.727522332,745,714,680,658,634,878,786,805,652,631,652,0.401308805894,-0.00539972907506,0.0799324749094,0.999999963981,0.000240900279968,-0.000110878479856,4.13676555852e-05,1793244828023774720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.134043163,745,714,680,658,634,878,786,805,652,631,652,0.401389696035,-0.00539742590694,0.0799374058571,0.999999964014,0.000243564400541,-0.000105426416595,3.91600500169e-05,1793244828040441856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,786,805,652,631,652,0.401487839044,-0.00540009254286,0.0799391995187,0.999999965278,0.000240663856283,-0.000101008990596,3.63668866438e-05,1793244828057108736
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.975389717,745,714,680,658,634,878,786,805,651.975389717,631,652,0.401592202737,-0.00540411873357,0.0799402018934,0.999999966877,0.00023610474195,-9.68953743548e-05,3.33560082502e-05,1793244828073775360
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.400630224,745,714,680,658,634,878,786,805,651.400630224,631,652,0.401723102454,-0.00540612375217,0.0799439769996,0.999999968637,0.000230762185497,-9.28253085937e-05,2.92972625229e-05,1793244828090441728
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.173026907,745,714,679.826973093,658,634,878.173026907,786,805,651.173026907,631,652,0.401865641066,-0.00540773236899,0.0799486211343,0.999999970325,0.000226636973596,-8.58620811615e-05,2.47560864292e-05,1793244828107108096
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.744147686,745,714,679.255852314,658,634,878.744147686,786,805,651.744147686,631,652,0.402034957999,-0.00540842895906,0.0799552646966,0.999999971825,0.000225312583483,-7.22423755617e-05,1.91049530581e-05,1793244828123774720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.329763751,679,658,634,879,786,805,652,630.670236249,652,0.40221676042,-0.00540838974698,0.0799606434381,0.999999973336,0.000222110068345,-6.18006655575e-05,1.32416262923e-05,1793244828140441344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.927143358,679,658,634,879,786,805,652,630.072856642,652,0.40240869531,-0.00540775340349,0.0799649957301,0.999999974892,0.000217383383017,-5.39380186496e-05,7.20609588424e-06,1793244828157107968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.493349508,679.506650492,658,634,878.493349508,786,805,651.493349508,630.506650492,652,0.402615588065,-0.00541035410635,0.0799596320188,0.999999976247,0.000207929725873,-6.53585696245e-05,-4.02678264578e-07,1793244828173775104
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.083341242,634,878.083341242,786,805.083341242,651.083341242,631,652,0.402830367507,-0.00541339413495,0.0799530649103,0.999999977295,0.000197815453619,-7.87956760989e-05,-8.34431661388e-06,1793244828190442240
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.658063647,634,878.658063647,786,805.658063647,651.658063647,631,652,0.403079397155,-0.0054163734212,0.0799473595781,0.999999978344,0.000187677386549,-8.83302431489e-05,-1.69601051761e-05,1793244828207108608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.238914097,680,658.761085903,634,879,786,805.761085903,652,630.761085903,652,0.403352531182,-0.00541896241982,0.0799449936588,0.999999983637,0.000154148242508,-9.14528087966e-05,-2.45194040127e-05,1793244828223774976
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.828765916,680,658.171234084,634,879,786,805.171234084,652,630.171234084,652,0.403661071793,-0.00542097812997,0.0799475329588,0.999999992188,8.62602585585e-05,-8.51568705234e-05,-3.05268386405e-05,1793244828240441344
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.59112107,745,714.59112107,680,658,634,879,786,805,651.59112107,630.40887893,652,0.403997782108,-0.00542138350324,0.0799506385965,0.999999991725,9.72301310039e-05,-7.94323592782e-05,-2.80657281297e-05,1793244828257107968
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.014991693,745,714.014991693,680,658,634,879,786,805,651.014991693,630.985008307,652,0.40434601513,-0.00542113017398,0.0799539758926,0.999999987157,0.000140456525876,-7.39415883166e-05,-2.21405897163e-05,1793244828273774592
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.562765445,745,714,680,658,634,879,785.437234555,805,651.562765445,631,652,0.404738856645,-0.00542575727606,0.0799554188058,0.999999988778,0.000131018236547,-6.7620802312e-05,-2.65657656365e-05,1793244828290441216
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.13918602,634,879,785.13918602,805.13918602,652,631,652,0.405140864812,-0.00543011098878,0.0799556493329,0.99999999028,0.000120206424313,-6.35717345902e-05,-3.0814889138e-05,1793244828307108096
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.711313801,634,879,785.711313801,805.711313801,652,631,652,0.405567678932,-0.00543320873884,0.0799522661292,0.999999991217,0.000109498812307,-6.66578838537e-05,-3.36562570846e-05,1793244828323774976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.294576368,714,680,659,634,879,786,805.705423632,652,631,652.294576368,0.406018746937,-0.0054346190445,0.0799473159923,0.999999990601,0.000109457869272,-7.51718310562e-05,-3.41375973805e-05,1793244828340441856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.88917982,714,680,659,634,879,786,805.11082018,652,631,652.88917982,0.406494517662,-0.00543431068236,0.0799407699277,0.999999988268,0.000120280965476,-8.92140102631e-05,-3.22152414006e-05,1793244828357108480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.530470059,714,680,658.530470059,634.469529941,879,786,805,651.530470059,630.530470059,652.530470059,0.406993606699,-0.0054372445985,0.0799346409849,0.999999988167,0.000113387039399,-9.78230311039e-05,-3.52153484148e-05,1793244828373775360
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.953640059,745,714,680,658,634.953640059,879.046359941,786,805,651.046359941,630.046359941,652,0.407499693983,-0.00544095089782,0.0799282699885,0.99999998828,0.000102924997921,-0.000106399786907,-3.90543757433e-05,1793244828390441984
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.379712754,745,714,680,658,634.379712754,879.620287246,786,805,651.620287246,630.620287246,652,0.408024634852,-0.00544499489413,0.0799180571218,0.999999986118,9.80427073333e-05,-0.000128772383266,-3.96084220575e-05,1793244828407108608
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.199578791,745,714,680,658,634,879.800421209,786,805.199578791,652,631,652,0.408582103179,-0.00545145513106,0.0799135011782,0.999999985337,9.13514957736e-05,-0.000139326642852,-3.96207957584e-05,1793244828423775232
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.789358035,745,714,680,658,634,879.210641965,786,805.789358035,652,631,652,0.409203166555,-0.00546263940767,0.0799200051979,0.99999998793,8.11236273197e-05,-0.000126774636657,-3.85741345879e-05,1793244828440441856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.372652894,634,879,786,806,651.627347106,630.627347106,652,0.409872123689,-0.00548427107275,0.0799474267762,0.999999994571,5.3743220325e-05,-8.14944285726e-05,-3.64327319607e-05,1793244828457108736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.952345126,634,879,786,806,651.047654874,630.047654874,652,0.410567689726,-0.00551170712115,0.0799864697787,0.999999999128,1.68331673049e-05,-1.80310121719e-05,-3.36831102773e-05,1793244828473775616
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.528856939,659,634,879,786,805.471143061,651.528856939,630.528856939,652,0.411244710783,-0.00551396361908,0.079992977429,0.999999999248,1.35790656972e-05,-1.07308365729e-05,-3.47087081865e-05,1793244828490442240
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.894776489,659,634,879,786,805,652,631,652,0.411918986834,-0.0055136359581,0.0799889804873,0.99999999906,1.33546578908e-05,-1.94346686492e-05,-3.63834379314e-05,1793244828507108864
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.317784057,659,634,879,786,805,652,631,652,0.41258840293,-0.00551183406645,0.0799509521127,0.999999996144,1.31980047053e-05,-7.73378285834e-05,-3.94524590734e-05,1793244828523775232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.264620042,680,659,634,879.264620042,786,805,652,631,652,0.413299350724,-0.00551607959972,0.079924949753,0.99999999301,2.50607090152e-06,-0.000110274660083,-4.25723958758e-05,1793244828540441600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.853658811,680,659,634,879.853658811,786,805,652,631,652,0.414061215615,-0.00552773915126,0.0799136910348,0.999999992391,-2.11019001396e-05,-0.000112603294618,-4.57547547505e-05,1793244828557108224
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.564661379,680,659,634,879.564661379,786,805.435338621,651.564661379,631,652,0.4148541816,-0.00553012094983,0.079930485758,0.999999995264,-2.3197681048e-05,-8.28126413299e-05,-4.55725833422e-05,1793244828573774848
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.014434148,659,634,879,786,806,651.014434148,631,652,0.415656725096,-0.0055296268115,0.079955742105,0.999999997875,-1.84884516002e-05,-4.40968923142e-05,-4.43204381151e-05,1793244828590441984
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.587659993,659,634,879,786,806,651.587659993,631,652,0.416432036459,-0.00553652617652,0.0799495666366,0.999999996159,-2.56335250307e-05,-7.09023021537e-05,-4.4703099228e-05,1793244828607108608
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.839207511,659,634,879.160792489,785.839207511,806,651.839207511,631,651.839207511,0.417230492525,-0.00554285841387,0.0799481423867,0.99999999521,-3.45203559621e-05,-7.93755252589e-05,-4.57019994465e-05,1793244828623774976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.266314301,659,634,879.733685699,785.266314301,806,651.266314301,631,651.266314301,0.418088266918,-0.00554773713939,0.0799588952024,0.999999996854,-4.78711980091e-05,-4.08645409307e-05,-4.82802805382e-05,1793244828640441600
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.318474493,659.318474493,634,879.681525507,785.318474493,806,651,631,651.318474493,0.41897282442,-0.00555149669215,0.0799748957766,0.999999997052,-5.84765649355e-05,-3.81894182581e-06,-4.96154051124e-05,1793244828657108480
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.91359653,659.91359653,634,879.08640347,785.91359653,806,651,631,651.91359653,0.419880647417,-0.00555428405882,0.0799954548926,0.999999996022,-6.66970338939e-05,3.19537268629e-05,-4.9870643394e-05,1793244828673775360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.505272685,634,879.494727315,786,805.505272685,651,631,652,0.420741002325,-0.00555516826337,0.0799801266004,0.999999996596,-6.49322805209e-05,7.64053283426e-06,-5.03298661916e-05,1793244828690441728
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.072680048,681.072680048,659,634,879.927319952,786,805.145360097,651,631,652,0.421600502922,-0.00555278888307,0.0799639138833,0.99999999683,-5.85763980364e-05,-1.8619563062e-05,-5.06147961337e-05,1793244828707108352
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.645119861,681.645119861,659,634,879.354880139,786,806.290239722,651,631,652,0.422509565944,-0.00553019123777,0.0799835320559,0.999999998184,-3.23127518982e-05,1.19064578409e-05,-4.94630300164e-05,1793244828723774720
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.775558748,681.775558748,659,634,879,786,806.775558748,651,630.775558748,652,0.423408492138,-0.00551301203708,0.0799987645918,0.999999998284,-1.00145962255e-05,3.17084351333e-05,-4.82223399923e-05,1793244828740441600
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.185012133,681.185012133,659,634,879,786,806.185012133,651,630.185012133,652,0.424290883426,-0.00550467132225,0.0800068433432,0.999999998308,5.81511216558e-06,3.40175106147e-05,-4.68365984778e-05,1793244828757108480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806,651,630,652,0.425167160116,-0.005510264326,0.0799737214728,0.999999998354,-2.99600022107e-06,-3.04335302402e-05,-4.85476013845e-05,1793244828773775360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,806,651,630,652,0.426040647164,-0.00552221414233,0.0799218031399,0.999999990544,-2.30486974982e-05,-0.000125341732316,-5.16713942866e-05,1793244828790441984
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681.55234007,659.55234007,634,879.55234007,786,806,651.55234007,630.55234007,652,0.426974445132,-0.00552820602604,0.079918343117,0.99999999219,-3.73643666196e-05,-0.00010613594227,-5.4395970822e-05,1793244828807108608
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.869400601,660,634,879.869400601,786,806,651.869400601,631,652,0.427895964759,-0.005532939751,0.0799183410388,0.999999993257,-4.81384559933e-05,-8.96028817233e-05,-5.60279357652e-05,1793244828823775488
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.281580691,660,634,879.281580691,786,806,651.281580691,631,652,0.428765634321,-0.00553414441617,0.0799233227709,0.999999992506,-4.73569001133e-05,-9.91989844882e-05,-5.38934097944e-05,1793244828840442880
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.69821454,745,713.69821454,681.30178546,660,634,879.30178546,786,806.30178546,651.30178546,631,652,0.429682814994,-0.00553590299972,0.0799457507583,0.999999994779,-4.73274506803e-05,-7.37908309142e-05,-5.25083832987e-05,1793244828857109248
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.118943561,745,713.118943561,681.881056439,660,634,879.881056439,786,806.881056439,651.881056439,631,652,0.430643681107,-0.00553817089975,0.0799842202182,0.999999997375,-4.79895475701e-05,-1.61969834901e-05,-5.18125061299e-05,1793244828873774848
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.458617056,745,713.458617056,681.541382944,660,634,880,786,806.082765887,651.541382944,631,652,0.431594510331,-0.00553583602689,0.0800169825968,0.999999997185,-4.44998645583e-05,3.38969356319e-05,-5.00111644311e-05,1793244828890441472
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.035564113,660,634,880,786,805.035564113,651.035564113,630.964435887,652,0.432533324434,-0.00553221386796,0.0800421359823,0.999999995413,-3.99021929137e-05,7.24717835529e-05,-4.8275779429e-05,1793244828907108096
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.609910494,660,634,880,786,805.609910494,651.609910494,630.390089506,652,0.433329402425,-0.00552710735497,0.0799743564162,0.999999997469,-3.47710461037e-05,-3.41043941144e-05,-5.18669476123e-05,1793244828923774976
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651.810983555,630.189016445,652,0.43414245989,-0.00552534744779,0.0799234088535,0.999999991751,-3.52021119074e-05,-0.000110494245991,-5.52287881769e-05,1793244828940441600
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651.221801023,630.778198977,652,0.434991464691,-0.00553067262764,0.0799080962568,0.999999989626,-4.74089192114e-05,-0.000122976748977,-5.81051217207e-05,1793244828957108224
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.361502183,660,634,880,786,806.361502183,651,630.638497817,652,0.435854416679,-0.00553349780396,0.0799239713105,0.999999991789,-5.50543256923e-05,-0.000100002478023,-5.82316393219e-05,1793244828973774848
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.941255801,660,634,880,786,806.941255801,651,630.058744199,652,0.436725789018,-0.00553481364092,0.079958675434,0.999999995049,-5.99458551056e-05,-5.56217190908e-05,-5.6697997182e-05,1793244828990441472
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.482608276,660,634,880,785.482608276,806.482608276,651.517391724,630.517391724,652,0.437571863669,-0.00553912255699,0.0799709168211,0.999999995645,-6.15458140129e-05,-4.32435574977e-05,-5.52429435116e-05,1793244829007108096
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,785.092606544,806,651.907393456,631,652,0.438400277581,-0.00554364448617,0.07997489335,0.999999995492,-6.50148718836e-05,-4.2628717636e-05,-5.451505907e-05,1793244829023774720
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,785.66516158,806,651.33483842,631,652,0.439151944487,-0.00554752138731,0.0799491619844,0.999999991587,-8.00942655455e-05,-8.42785199149e-05,-5.7509924418e-05,1793244829040441344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.752263458,633.752263458,880.247736542,786,806,651,631,652.247736542,0.439862457762,-0.00554913341666,0.0799016151965,0.999999982158,-8.54097065384e-05,-0.000157405734413,-6.01048858998e-05,1793244829057107968
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.155574864,633.155574864,880.844425136,786,806,651,631,652.844425136,0.440515003567,-0.0055475552354,0.0798233400558,0.99999995733,-7.69720219007e-05,-0.000274870801971,-6.21365576511e-05,1793244829073774848
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.426268903,714,682.426268903,659.426268903,633,880.573731097,785.573731097,806,651,631,652.573731097,0.441149457319,-0.00554243967219,0.079740075427,0.999999914432,-6.98840776952e-05,-0.00040233381975,-6.6174421776e-05,1793244829090441216
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.997128501,745.997128501,714,683,659.994257002,633,880.002871499,785,806.002871499,651,630.997128501,652,0.441778085454,-0.00553614111462,0.0796556328144,0.999999853762,-6.33814694046e-05,-0.000532384059627,-7.08896238192e-05,1793244829107107840
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.421652407,745.421652407,714,683,658.843304815,633,880.578347593,785,806.578347593,651,630.421652407,652,0.442517416824,-0.0055427230376,0.0796871964467,0.999999881575,-7.8674737109e-05,-0.000475203449637,-6.95789310539e-05,1793244829123774464
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,745,714,683,658,632.842432511,880.842432511,784.842432511,806.842432511,651,630.157567489,652,0.443237538035,-0.00554918179557,0.0797224651335,0.999999907031,-8.81564553321e-05,-0.000416592991311,-6.79470352053e-05,1793244829140441088
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,745,714,683,658,632.252950194,880.252950194,784.252950194,806.252950194,651,630.747049806,652,0.44390500164,-0.00555530294226,0.079767889907,0.999999931841,-8.17078962127e-05,-0.000354063105949,-6.54346762709e-05,1793244829157107968
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.330518141,745,713.669481859,683,658,632,880,784.330518141,806.330518141,651,630.669481859,652,0.444523967021,-0.00555709955418,0.0797791900444,0.999999936099,-8.69628620032e-05,-0.000340796020554,-6.40051998342e-05,1793244829173774848
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.909466105,745,713.090533895,683,658,632,880,784.909466105,806.909466105,651,630.090533895,652,0.445106479281,-0.0055556456833,0.0797648408234,0.999999926438,-0.00010101463631,-0.000364556706415,-6.33896587228e-05,1793244829190441472
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.531911465,745.468088535,713.468088535,683,658,632,880,784.531911465,807,651,630,652,0.445650633564,-0.00555272804564,0.0797405342075,0.999999911685,-9.52045210117e-05,-0.000404305730887,-6.40480514843e-05,1793244829207108608
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.024357345,745.975642655,714,683,657.975642655,631.975642655,880,784,806.975642655,651,630,652,0.446186891029,-0.00554956469241,0.0797147568275,0.999999894807,-8.58096802182e-05,-0.000445867933145,-6.49899695932e-05,1793244829223775488
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.613407549,745.386592451,714,683,657.386592451,631.386592451,880,784,806.386592451,651,630,652,0.446704910714,-0.00554699513349,0.079697672587,0.999999888511,-7.86621242868e-05,-0.000460758065941,-6.70304524055e-05,1793244829240441856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,784,806,651,630,652,0.447204482567,-0.00554521704197,0.0796815189104,0.999999881353,-7.7758013557e-05,-0.000475908666265,-6.89790151893e-05,1793244829257108224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,784,806,651,630,652,0.447668828288,-0.00554495025501,0.0796671421443,0.999999872743,-8.87757408071e-05,-0.000491556626815,-7.07520567735e-05,1793244829273774592
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.388010117,745,714,683.388010117,657,631,880,784,806,651,630,652,0.448088443059,-0.0055490646117,0.0796481200878,0.999999855642,-9.39481470182e-05,-0.000524237699516,-7.11698764457e-05,1793244829290441472
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.964980517,745,714,683.964980517,657,631,880,784,806,651,630,652,0.448486273974,-0.00555531257805,0.0796268357812,0.999999833117,-9.62738924422e-05,-0.000565213870297,-7.09277053611e-05,1793244829307108352
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.9196312,745,714,683.4598156,656.4598156,631,880.5401844,783.4598156,806,651.5401844,630,652,0.448862024944,-0.00556028346293,0.0796080143827,0.999999816949,-0.000103848552645,-0.000591743553815,-7.18055646062e-05,1793244829323775232
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.707590216,745,713.292409784,683,656,631,881,783,806,652,630,652,0.449610062172,-0.00556486266197,0.0796042251496,0.999999817721,-0.000118777943124,-0.00058760601805,-7.1894912132e-05,1793244829357108736
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,745,713,684,653,629,880,782,807,651,630,652,0.452661817552,-0.0055823674893,0.0795177363453,0.999999717861,-0.000139511794888,-0.000734961433091,-6.81602021668e-05,1793244830399605760
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.197693935,745,713,684.802306065,653.395387871,629,880,781.197693935,807,651,629.197693935,652,0.452641011435,-0.0055813751448,0.0795071236564,0.99999970608,-0.000139460875255,-0.000750784376363,-6.86550853249e-05,1793244830566272000
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,745,713,683.090228506,654,629,880.909771494,781.090228506,806.090228506,651,630,652,0.450714890729,-0.00554546207143,0.079458518856,0.999999643453,-8.87305311335e-05,-0.000839448541218,-2.33675170422e-05,1793244830832938752
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87e6f98c1b9d87a09ebe4433bfc254e4f22cff7f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc0ea7f1fb75c3952b34b1bbfb55c95ba5cbeabf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bbbef3c86488ad2250143c087e0968d21b0141c0a4ee0d715fae7579c4df91f
+size 25842642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9021ad3f837eca5874cbd166852b8895715fb3b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+60,1.000000000,BASELINE,765,745,714,680,658,634,878,785.795140878,805,651,631,652,0.400966724944,-0.0053950337899,0.0798352148787,0.999999929195,0.000241887658509,-0.000285080869403,4.27747214251e-05,1793244833898018048
+61,1.016666667,BASELINE,765,745,714,680,658,634,878.383221963,786,805,651,631,652,0.40096654937,-0.00539627636648,0.0798350550729,0.99999992925,0.000241271072949,-0.000285399667066,4.28510827376e-05,1793244833914684672
+62,1.033333333,BASELINE,765,745,714,680,658,634,878.979352655,786,805,651,631,652,0.400965855747,-0.00539809688546,0.0798344723228,0.999999928968,0.000240705657531,-0.000286842740942,4.29712843987e-05,1793244833931351552
+63,1.050000000,BASELINE,765,745,714,680,657.444211128,634,879,786,805,651,631,652,0.400965226046,-0.00539679217203,0.0798341523688,0.999999928469,0.000241902943588,-0.000287604817798,4.27501372535e-05,1793244833948017920
+64,1.066666667,BASELINE,765,745,714,680,657.13131162,634,878.86868838,786,805,651,631,652,0.400964723455,-0.00539603514001,0.0798339034381,0.999999928248,0.000242170498598,-0.000288177151071,4.25704737669e-05,1793244833964684544
+65,1.083333333,BASELINE,765,745,714,680,657.706135637,634,878.293864363,786,805,651,631,652,0.400964642445,-0.00539750665127,0.0798338625465,0.999999928986,0.000239084228817,-0.000288191138463,4.25722886325e-05,1793244833981351424
+66,1.100000000,BASELINE,765,745,714,680,658,634,878,786,805,651.28906548,631,652,0.400965202604,-0.00539778725654,0.0798339886733,0.999999929294,0.000238634302149,-0.000287498222393,4.25415257306e-05,1793244833998018048
+67,1.116666667,BASELINE,765,745,714,680,658,634,878,786,805,651.880473418,631,652,0.400966433382,-0.00539682225661,0.0798342894897,0.999999929155,0.000240941807857,-0.000286065934293,4.24766887419e-05,1793244834014684672
+68,1.133333333,BASELINE,764.540165255,745,714,680,658,634,878,786,805,652,631,652,0.400966165073,-0.00539651127812,0.0798345178783,0.999999929353,0.000240556184573,-0.000285704312229,4.24150708236e-05,1793244834031351296
+69,1.150000000,BASELINE,764,745,714,680,658,634,878,786,805,651.963812945,631,652,0.400965603753,-0.00539639583265,0.0798347241692,0.999999929584,0.000239672294038,-0.000285645708644,4.23646991241e-05,1793244834048018176
+70,1.166666667,BASELINE,764,745,714,680,658,634,878,786,805,651.386828143,631,652,0.40096633818,-0.00539672679051,0.0798348743901,0.999999929012,0.000241536652129,-0.000286062653833,4.24702111879e-05,1793244834064684800
+71,1.183333333,BASELINE,764,744.806464406,714,679.806464406,658,634,878,785.806464406,805,651,631,652,0.400967134467,-0.00539735119846,0.0798353205048,0.999999929068,0.00024173280311,-0.000285681935197,4.25950220259e-05,1793244834081351168
+72,1.200000000,BASELINE,764,744.219226927,714,679.219226927,658,634,878,785.219226927,805,651,631,652,0.400968056593,-0.00539857256046,0.0798363685447,0.999999930399,0.000238535385987,-0.000283678560329,4.2759091624e-05,1793244834098017792
+73,1.216666667,BASELINE,764.363404517,744.363404517,714,679.363404517,658,634,878.363404517,785.363404517,805,651,631,652,0.400967738651,-0.00539849488795,0.079836330061,0.999999930774,0.000237493388474,-0.00028326075224,4.25787649554e-05,1793244834114684672
+74,1.233333333,BASELINE,764.943292074,744.943292074,714,679.943292074,658,634,878.943292074,785.943292074,805,651,631,652,0.400966681991,-0.00539764336991,0.0798356443262,0.999999930583,0.000237735392227,-0.000283787479358,4.21932786071e-05,1793244834131351296
+75,1.250000000,BASELINE,765,745,714,680,658,634,879,786,805,651.520483299,631,652,0.400967516822,-0.00539730004378,0.0798358544735,0.999999930569,0.000238340713056,-0.000283313331198,4.22967486968e-05,1793244834148018176
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.902947601,786,805,652,631,652,0.40096835697,-0.00539685498478,0.0798361115073,0.999999930479,0.000239183824651,-0.00028289651801,4.24490222136e-05,1793244834164684800
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.328002801,786,805,652,631,652,0.400968213762,-0.00539563775218,0.0798361212592,0.999999929924,0.000241003922545,-0.000283296217219,4.25806391968e-05,1793244834181351424
+78,1.300000000,BASELINE,765,745,714,680,658,634,878.253198599,786,805,652,630.746801401,652,0.400968395549,-0.00539579769537,0.0798363895687,0.999999929923,0.000241427545072,-0.000282924546537,4.26748981457e-05,1793244834198018304
+79,1.316666667,BASELINE,765,745,714,680,658,634,878.842710337,786,805,652,630.157289663,652,0.400969009012,-0.0053977868838,0.0798370013094,0.999999930659,0.000239996287473,-0.000281528297371,4.27195359652e-05,1793244834214684928
+80,1.333333333,BASELINE,765,745,714,679.575333549,657.575333549,634,878.575333549,786,805,651.575333549,630.424666451,652,0.400968612513,-0.00539827671045,0.0798370511002,0.999999930791,0.00023909314299,-0.000281818080105,4.27998390148e-05,1793244834231351552
+81,1.350000000,BASELINE,765,745,714,679.003859067,657,634,878.003859067,786,805,651.003859067,630.996140933,652,0.400967860483,-0.00539821303317,0.079836901921,0.999999930704,0.000238390076744,-0.000282706389348,4.28902838919e-05,1793244834248018176
+82,1.366666667,BASELINE,765,745,714,679.580974573,657,634,878.580974573,786,805,651.580974573,630.419025427,652,0.400968891735,-0.00539697996826,0.0798375740416,0.999999930985,0.000238859496744,-0.000281361076432,4.25592847058e-05,1793244834264684800
+83,1.383333333,BASELINE,765,744.839756226,714,679.839756226,657.160243774,634,879,786,805,652,630,652,0.400969554994,-0.00539638020382,0.0798378445408,0.999999931224,0.000238652254802,-0.000280728146787,4.23014079293e-05,1793244834281351424
+84,1.400000000,BASELINE,765,744.25477842,714,679.25477842,657.74522158,634,879,786,805,652,630,652,0.400969242871,-0.00539745903327,0.0798370505227,0.999999931349,0.0002366514871,-0.000281983423862,4.22373456351e-05,1793244834298018048
+85,1.416666667,BASELINE,764.672895166,744,714,679.327104834,658,634,878.672895166,786,805,651.672895166,630.327104834,651.672895166,0.400968198878,-0.00539749732134,0.0798362041961,0.999999930906,0.00023703703809,-0.000283199430288,4.24184648087e-05,1793244834314684672
+86,1.433333333,BASELINE,764.093399669,744,714,679.906600331,658,634,878.093399669,786,805,651.093399669,630.906600331,651.093399669,0.400966590181,-0.00539673273852,0.0798353175088,0.999999930024,0.000239263847697,-0.000284385135817,4.27887634374e-05,1793244834331351296
+87,1.450000000,BASELINE,764.48560242,744.48560242,714,680,658,634,878.48560242,786,805,651,630.51439758,651.48560242,0.400966477397,-0.00539617322042,0.079835382298,0.999999929752,0.000240650062773,-0.000284179421027,4.2718070689e-05,1793244834348018176
+88,1.466666667,BASELINE,764.936033434,745,714,680,658,634,878.936033434,786,805,651.063966566,630.063966566,652,0.400966697614,-0.00539570705764,0.079835616732,0.999999929576,0.00024189477473,-0.000283768378458,4.25601263784e-05,1793244834364684800
+89,1.483333333,BASELINE,764.362000231,745,714,680,658,634,878.362000231,786,805,651.637999769,630.637999769,652,0.400967281228,-0.00539567111911,0.0798357461146,0.999999929219,0.000243299052131,-0.000283851906225,4.23821006462e-05,1793244834381351424
+90,1.500000000,BASELINE,764.217014186,745,714,679.782985814,658,634,878,786,805,652,631,652,0.400967862179,-0.00539586057481,0.0798359774199,0.999999929306,0.00024329229785,-0.000283548860329,4.23878920326e-05,1793244834398018304
+91,1.516666667,BASELINE,764.804532885,745,714,679.195467115,658,634,878,786,805,652,631,652,0.400968438581,-0.00539643484213,0.0798363827364,0.99999993015,0.00024087651379,-0.00028258582399,4.27075111787e-05,1793244834414684672
+92,1.533333333,BASELINE,765,745,714,679.387441324,658,634,878,786,805,652,631,652,0.400967550879,-0.00539695017385,0.0798355960736,0.999999929972,0.00024016304352,-0.000283828160509,4.26585482501e-05,1793244834431351296
+93,1.550000000,BASELINE,765,745,714,679.968051254,658,634,878,786,805,652,631,652,0.400965933211,-0.00539743612181,0.0798342151198,0.999999929282,0.000240298304343,-0.000286170040988,4.24258194962e-05,1793244834448017664
+94,1.566666667,BASELINE,765,744.453820341,714,680,657.453820341,634,878.546179659,786,805.546179659,651.453820341,630.453820341,652,0.400966923263,-0.00539747548539,0.0798355194983,0.999999929979,0.000239545114852,-0.000284358210372,4.24390261608e-05,1793244834464684544
+95,1.583333333,BASELINE,765,744,714,679.877400565,657.24519887,634,879,786.122599435,805.877400565,651.122599435,630.122599435,652,0.400967855773,-0.00539748310548,0.0798365271559,0.999999930592,0.000238782462252,-0.000282837124558,4.24603302941e-05,1793244834481351424
+96,1.600000000,BASELINE,765,744,714,679.306697551,658.386604897,634,879,786.693302449,805.306697551,651.693302449,630.693302449,652,0.400968022951,-0.00539746975039,0.0798358787651,0.999999930616,0.00023817431335,-0.000283262764623,4.24588876187e-05,1793244834498018048
+97,1.616666667,BASELINE,765,744.274159136,714,679.274159136,658.725840864,634,879,786.451681729,805,652,631,652,0.400968403554,-0.00539679842874,0.0798358919831,0.999999930516,0.000238822295783,-0.00028308926161,4.23372269635e-05,1793244834514684928
+98,1.633333333,BASELINE,765,744.866811402,714,679.866811402,658.133188598,634,879,785.266377196,805,652,631,652,0.400969032097,-0.0053953627414,0.0798366737979,0.999999930267,0.000240929537303,-0.000282219728676,4.20759080016e-05,1793244834531351552
+99,1.650000000,BASELINE,765,745,714,680,658,634,878.550575228,785.449424772,805,652,631,652,0.40096935359,-0.00539479164283,0.0798374240503,0.99999993009,0.000242589863665,-0.000281384399798,4.23323132346e-05,1793244834548017920
+100,1.666666667,BASELINE,765,745,714,680,658,634,878,786,804.971104083,652,631,652,0.400969523405,-0.00539454451091,0.0798380859136,0.999999929934,0.000244001621597,-0.00028066262434,4.27146684914e-05,1793244834564684800
+101,1.683333333,BASELINE,765,745,714,680,658,634,878,786,804.396021148,652,631,652,0.400968508619,-0.00539568366193,0.0798372499955,0.999999929793,0.000243163728411,-0.000281899808767,4.26409775004e-05,1793244834581351424
+102,1.700000000,BASELINE,765,745,714,680,658,634,878,786,804.182663467,651.817336533,631,652,0.400967959534,-0.00539650296814,0.0798366444091,0.999999929791,0.000242283510423,-0.000282674691568,4.25627704392e-05,1793244834598018048
+103,1.716666667,BASELINE,765,745,714,680,658,634,878,786,804.769313644,651.230686356,631,652,0.400968440412,-0.00539661489113,0.0798365482345,0.9999999301,0.00024130968512,-0.000282427127208,4.24745754444e-05,1793244834614684672
+104,1.733333333,BASELINE,764.648496356,744.648496356,714,679.648496356,658,634,878,786,805,651,631,652,0.400968059746,-0.00539634753165,0.0798360361809,0.999999930039,0.000240869593011,-0.000283031197235,4.23947421491e-05,1793244834631351296
+105,1.750000000,BASELINE,764.069196767,744.069196767,714,679.069196767,658,634,878,786,805,651,631,652,0.400967120746,-0.00539583437386,0.0798352546121,0.999999929737,0.000240775392688,-0.000284187178618,4.232032774e-05,1793244834648018176
+106,1.766666667,BASELINE,764.509946384,744.509946384,714,679.509946384,658,634,878,786,805,651,631,652,0.400967164704,-0.00539682906679,0.0798355281686,0.999999930101,0.000239444902605,-0.000284021168608,4.23770663011e-05,1793244834664685056
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630,652,0.400967249166,-0.00539794697906,0.079835978649,0.999999930494,0.000237910576702,-0.000283906628885,4.25105273885e-05,1793244834707886080
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.409918029,658,634,878.409918029,786,805,652,630,652,0.400967752384,-0.00539722807651,0.0798358542088,0.999999930406,0.000238648299996,-0.000283623053556,4.23549634194e-05,1793244834724552704
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.176901391,658,634,878.176901391,786,805,651.823098609,630.176901391,652,0.400968090792,-0.00539688013024,0.079836021001,0.999999930377,0.000239230830366,-0.000283240839354,4.23080450271e-05,1793244834741219328
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.756297807,658,634,878.756297807,786,805,651.243702193,630.756297807,652,0.400968054217,-0.00539737620236,0.0798368504193,0.999999930485,0.00023946025806,-0.000282634196919,4.25083225348e-05,1793244834757885952
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.668141188,745,714,680,657.668141188,634,879,786,804.668141188,651,630.668141188,652,0.400967896041,-0.00539732453806,0.0798367481326,0.99999993034,0.000239775997324,-0.000282885719775,4.24558045351e-05,1793244834774552832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095364592,745,714,680,657.095364592,634,879,786,804.095364592,651,630.095364592,652,0.400967649585,-0.00539687523644,0.0798359694609,0.999999930012,0.000240154395729,-0.000283760240377,4.2219765907e-05,1793244834791219456
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+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460437846,744.460437846,714,679.539562154,658,634,878.539562154,785,805,651.539562154,630.460437846,652,0.401117917764,-0.00540113692292,0.079891872237,0.999999954862,0.000237015358495,-0.000179615614767,4.28732715824e-05,1793244834924552448
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,744.117981056,714,679.882018944,658,633.882018944,879,785.117981056,805,651.882018944,630,652,0.401184630258,-0.00540197602473,0.0799107311091,0.999999960769,0.000236810596177,-0.000143478363405,4.23854748251e-05,1793244834941219328
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,744.711731775,714,679.288268225,658,633.288268225,879,785.711731775,805,651.288268225,630,652,0.401261513706,-0.0054029003196,0.0799250064757,0.999999963612,0.000235913258384,-0.000124050812008,4.16133720915e-05,1793244834957885952
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.296750073,878.703249927,786,805,651,630.296750073,651.703249927,0.401344184817,-0.00540414837557,0.0799339138638,0.99999996542,0.000235255469858,-0.00011050745324,4.00459886046e-05,1793244834974552320
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658,633.873527996,878.126472004,786,805,651,630.873527996,651.126472004,0.401432317444,-0.00540570194826,0.0799377557647,0.999999966462,0.000234823731813,-0.000102516706969,3.77281394454e-05,1793244834991218944
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,714,679,657.552877578,634,878,786,804.552877578,651.447122422,631,651,0.401534999033,-0.00540609902868,0.0799388704732,0.999999967457,0.000232003159155,-0.000100486803293,3.40972751218e-05,1793244835007885568
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.020505678,745,714,679.020505678,657.020505678,634,878.020505678,786,804.020505678,651.979494322,630.979494322,651.020505678,0.401642910812,-0.00540615618635,0.0799394311314,0.999999968426,0.000228662949106,-9.97840944351e-05,3.00827525289e-05,1793244835024551936
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.612937169,745,714,679.612937169,657.612937169,634,878.612937169,786,804.612937169,651.387062831,630.387062831,651.612937169,0.401782730053,-0.00540579183479,0.0799459020081,0.99999996933,0.000229542265332,-8.94044223437e-05,2.56529995184e-05,1793244835041218560
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.801015462,786,805,651.198984538,630.198984538,652,0.40193444666,-0.00540677919342,0.0799519635116,0.999999970727,0.000227764622294,-7.89127406043e-05,2.10061180189e-05,1793244835057885440
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.227000453,786,805,651.772999547,630.772999547,652,0.402108586474,-0.0054103141496,0.07995725346,0.999999973131,0.00022097935045,-6.82099530343e-05,1.59500102527e-05,1793244835074552320
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.650176177,714,679.650176177,658,634,878.349823823,786,805,651.650176177,631,652,0.402297608386,-0.00541283692673,0.0799605547797,0.999999975211,0.000213790850041,-6.1409885479e-05,1.00390615007e-05,1793244835091219200
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.071514153,714,679.071514153,658,634,878.928485847,786,805,651.071514153,631,652,0.402496365479,-0.00541469758455,0.0799625552331,0.999999977072,0.000206338575901,-5.71627917118e-05,3.56891570464e-06,1793244835107885824
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.516139648,714,679.516139648,658,634,879,786,805.516139648,651.516139648,631,652,0.402706692321,-0.00541575084485,0.0799560151437,0.999999977515,0.000200259222415,-6.96321693495e-05,-4.15811170366e-06,1793244835124552448
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.89618821,651.89618821,631,652,0.40292735282,-0.00541702657529,0.0799487462112,0.999999977677,0.000193726785244,-8.34666598281e-05,-1.21782988096e-05,1793244835141218816
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805.314270958,651.314270958,631,652,0.403188091292,-0.0054198512435,0.0799436670982,0.999999978518,0.000184216048122,-9.2731956157e-05,-2.07323757914e-05,1793244835157885696
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.736137655,878.736137655,786,805,651.263862345,630.736137655,652,0.403478380196,-0.00542308809734,0.0799427996626,0.999999985224,0.000141301494201,-9.39273106522e-05,-2.76495196559e-05,1793244835174552320
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.162447508,878.162447508,786,805,651.837552492,630.162447508,652,0.403803367273,-0.00542680894036,0.0799468775889,0.999999994049,5.91640979161e-05,-8.56469189903e-05,-3.26445720712e-05,1793244835191218944
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.410734734,878.410734734,786,805,652,630,651.589265266,0.404154307016,-0.00542709989655,0.0799546959523,0.999999994001,7.55581399097e-05,-7.38094545675e-05,-2.89929871617e-05,1793244835207885568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,633.983716333,878.983716333,786,805,652,630,651.016283667,0.404515498473,-0.00542603599187,0.0799639918488,0.999999989361,0.000130873695689,-6.05668889923e-05,-2.19258404965e-05,1793244835224552448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.421714167,714,680,658,634,878.421714167,786,805,651.421714167,630.578285833,651.578285833,0.404912012445,-0.00542995085674,0.0799609574736,0.999999989941,0.000126800578624,-5.7806296637e-05,-2.64303002523e-05,1793244835241219072
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831269975,744.168730025,714,680,658,634,878,786,805,651,630.831269975,651.831269975,0.405319426554,-0.00543372980098,0.0799555375933,0.999999990662,0.000118569601995,-6.05357163416e-05,-3.08681709352e-05,1793244835257885696
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.252388675,744.747611325,714,680,658,634,878,786,805,651,630.252388675,651.252388675,0.405750825293,-0.00543682434438,0.079945195707,0.999999991078,0.000104454321298,-7.58650399597e-05,-3.43214061945e-05,1793244835274552320
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.676729765,878.323270235,786,805,651,630,651,0.406213325003,-0.00543937754291,0.0799369937715,0.999999989855,0.000104430787337,-9.05854076511e-05,-3.43246628088e-05,1793244835291218944
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,633.103561798,878.896438202,786,805,651,630,651,0.406699866756,-0.0054415122657,0.0799304460821,0.999999987356,0.000115300601077,-0.000104835035501,-3.16609812747e-05,1793244835307885824
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.483790483,745,714,680,658,633.483790483,879,786,805,651,630.483790483,651,0.407202315767,-0.00544669428791,0.0799279190954,0.999999987863,0.000105706575104,-0.000109201603918,-3.42883900152e-05,1793244835324552448
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.927348632,714,680,658,634,879,786,805,651,630.927348632,651.072651368,0.407712021556,-0.0054532257792,0.0799246628643,0.999999988529,9.16403557097e-05,-0.000114608800602,-3.75457346468e-05,1793244835341219072
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.34974323,714,680,658,634,879,786,805,651,630.34974323,651.65025677,0.408247782896,-0.0054644658103,0.0799101753447,0.999999986144,7.78568533296e-05,-0.000142397098963,-3.70714043702e-05,1793244835357885696
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.227035279,714,680,658.227035279,634,879,785.772964721,805,651,630,652,0.40882410468,-0.00548126108557,0.0799087038125,0.99999998684,5.86236827553e-05,-0.000146995686494,-3.57213293153e-05,1793244835374552576
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.802544564,714,680,658.802544564,634,879,785.197455436,805,651,630,652,0.409462682221,-0.00550658304459,0.07992721038,0.999999992245,3.10258760083e-05,-0.000116000634987,-3.30270830621e-05,1793244835391219456
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.376984327,659,634,879,785.376984327,805,651.376984327,630.376984327,652,0.410148589488,-0.00551360978462,0.0799570711794,0.999999997119,2.04352447324e-05,-6.54522556752e-05,-3.25512641234e-05,1793244835407886080
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.950865468,659,634,879,785.950865468,805,651.950865468,630.950865468,652,0.410859216786,-0.00551108103292,0.0799928622301,0.999999999261,1.87273672497e-05,-4.69128302554e-06,-3.32341174137e-05,1793244835424552704
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.457086395,658.457086395,634,879,786,805,651.457086395,631,652,0.411523175096,-0.0055123274569,0.0799892105468,0.999999999132,1.57363150401e-05,-1.69174510131e-05,-3.46692287843e-05,1793244835441219328
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.133147529,658.133147529,634,879,785.866852471,805,651,631,652,0.412186989534,-0.00551540744773,0.0799730765846,0.999999998209,9.90041510811e-06,-4.60705106994e-05,-3.6893445722e-05,1793244835457886208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.711624032,658.711624032,634,879,785.288375968,805,651,631,652,0.412864938118,-0.0055234377525,0.0799275464624,0.999999993187,-5.04858562155e-06,-0.000108980085656,-4.1521339645e-05,1793244835474552576
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.712263685,745,714,680.712263685,658.712263685,634,879,785,805,651.287736315,630.712263685,652,0.413589305532,-0.00552687891038,0.079906889196,0.999999990136,-1.61326312115e-05,-0.000132051626495,-4.50622702969e-05,1793244835491219200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.138501496,745,714,680.138501496,658.138501496,634,879,785,805,651.861498504,630.138501496,652,0.41435981592,-0.00552575820243,0.0799109569237,0.999999991925,-2.33746986171e-05,-0.000115521957447,-4.75226997833e-05,1793244835507886080
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.442810721,745,714,680.442810721,658.442810721,634,879,785.442810721,805,651.557189279,630.442810721,652,0.415159542515,-0.00553210684286,0.0799334664353,0.999999995444,-3.07306314748e-05,-7.73822139503e-05,-4.66899280725e-05,1793244835524552704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.973425382,805,651.026574618,630.973425382,652,0.415967631118,-0.00554054981727,0.079959761445,0.999999997616,-3.78889774081e-05,-3.62633916974e-05,-4.49227358856e-05,1793244835541219328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,785.388626478,805,651.611373522,630.388626478,652,0.416756086724,-0.00554305990911,0.0799423065623,0.999999995192,-4.01357445589e-05,-7.70113768525e-05,-4.55394589525e-05,1793244835557885696
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.806774077,714,680.806774077,659,634,879,785,805.193225923,651.806774077,630.193225923,652,0.417576586953,-0.00554704871555,0.0799377127005,0.999999994218,-4.51472475465e-05,-8.58690310937e-05,-4.63979774229e-05,1793244835574552320
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.230758868,714,680.230758868,659,634,879,785,805.769241132,651.230758868,630.769241132,652,0.418460568978,-0.00555396692229,0.0799585971038,0.999999996815,-5.5635817091e-05,-3.15504958337e-05,-4.77355035116e-05,1793244835591218944
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654440777,744.345559223,714,680.345559223,659,634,879,785,805.654440777,651,630.654440777,652,0.419340084093,-0.00555978995162,0.0799726486793,0.999999996561,-6.6813015828e-05,-1.57393223452e-06,-4.91121755946e-05,1793244835607885312
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.077920273,744.922079727,714,680.922079727,659,634,879,785,805.077920273,651,630.077920273,652,0.420216613626,-0.00556488099737,0.0799821333995,0.999999995573,-7.84504730338e-05,1.21331951878e-05,-5.05150116729e-05,1793244835624551936
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.509384864,744.490615136,713.490615136,681,659,634,879,785,805,651,630,652,0.421086726626,-0.00556918485,0.0799689448215,0.999999995328,-8.14082333583e-05,-1.1352868053e-05,-5.08801354224e-05,1793244835641218816
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.903492409,744.096507591,713.096507591,681.096507591,659,633.903492409,879,785.096507591,805,650.903492409,630,652,0.421965637362,-0.0055699164786,0.0799591043948,0.999999995091,-7.99035093389e-05,-2.91618035785e-05,-5.0821335066e-05,1793244835657885696
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.325684977,744.674315023,713.674315023,681.674315023,659,633.325684977,879,785.674315023,805,650.325684977,630,652,0.422893424558,-0.00555344634118,0.0799836330123,0.999999996745,-6.29084417901e-05,1.03299042011e-05,-4.9457130611e-05,1793244835674552576
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.250660318,633.250660318,879,785.749339682,805.250660318,650.250660318,630,652,0.423796485127,-0.00553151181674,0.0799948976039,0.999999998,-3.44256926705e-05,2.18494299678e-05,-4.83558393133e-05,1793244835691219456
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659.825116944,633.825116944,879,785.174883056,805.825116944,650.825116944,630,652,0.424667604628,-0.00550251854072,0.0799890280844,0.999999998824,8.89653918998e-06,-2.7647569636e-06,-4.75941720324e-05,1793244835707886080
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401328044,745,714,682,659.598671956,633.598671956,879,785.401328044,805.598671956,651,630,652,0.425547989381,-0.0055023151197,0.0799565677647,0.999999997067,4.85259522536e-06,-5.77047726567e-05,-5.01329160835e-05,1793244835724552704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.978306998,745,714,682,659.021693002,633.021693002,879,785.978306998,805.021693002,651,630,652,0.426432429244,-0.0055147122757,0.0799124693394,0.99999999041,-1.99223020438e-05,-0.000125917617934,-5.41161647112e-05,1793244835741219328
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.430561946,745,714,682,659,633,879.569438054,786,805.569438054,651,630,652,0.427368460179,-0.00552272344044,0.0799081894536,0.999999991423,-3.11445278503e-05,-0.000114563071114,-5.53036566098e-05,1793244835757885952
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.157475568,745,714,682,659,633.157475568,879.842524432,786,806,651,630,651.842524432,0.428300616141,-0.0055280951466,0.0799103881255,0.999999992507,-3.73177403167e-05,-0.000102579377577,-5.54138822706e-05,1793244835774552576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.735768841,745,714,682,659,633.735768841,879.264231159,786,806,651,630,651.264231159,0.429217031165,-0.00552687137836,0.0799257423767,0.999999993379,-3.14134547448e-05,-9.7220949113e-05,-5.2937224206e-05,1793244835791219456
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.689430466,744.689430466,714,681.689430466,659,634,879.621139068,786,806,651,630,651.310569534,0.430149785833,-0.00552914714274,0.0799550115552,0.999999996077,-3.67839898746e-05,-6.1684437171e-05,-5.1844673333e-05,1793244835807886080
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.117568229,744.117568229,714,681.117568229,659,634,880.764863543,786,806,651,630,651.882431771,0.43109628755,-0.00553436718292,0.0799959878341,0.999999997319,-5.16404150275e-05,-7.58078059324e-07,-5.19166188483e-05,1793244835824552704
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,744,714,681.469177823,659,634,880.530822177,785.530822177,806,651,630,652,0.432018115027,-0.00553109877895,0.0800154882155,0.999999997201,-4.63305141659e-05,2.8020014938e-05,-5.16319327783e-05,1793244835841219328
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,744.117347883,714,682,659.058673941,634,879.941326059,785,806,651,630,651.941326059,0.432923490831,-0.00552575006203,0.0800207964238,0.999999997355,-3.65854923735e-05,3.58113787249e-05,-5.1672176135e-05,1793244835857885952
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745.276771502,714,682,659.638385751,634,879.361614249,785,806,651,630,651.361614249,0.433739476368,-0.00552143535534,0.0799494295942,0.999999995521,-3.38006952559e-05,-6.88828707148e-05,-5.54174564448e-05,1793244835874552320
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.216824383,745.783175617,714,682,660,634,879,785,806,651,630,651.216824383,0.434582651208,-0.00552108883133,0.0799090568754,0.999999989845,-3.47429429696e-05,-0.000125603452624,-5.76703240916e-05,1793244835891218688
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.793152127,745.206847873,714,682,660,634,879,785,806,651,630,651.793152127,0.435470907115,-0.00552732170972,0.0799200736011,0.999999992191,-4.18647777569e-05,-0.00010278182324,-5.74487141983e-05,1793244835907885568
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.608403394,745.608403394,713,683.608403394,653,629,880.608403394,781,806.608403394,651.608403394,629.391596606,652,0.453142981112,-0.00557861513843,0.0795067163085,0.999999704787,-0.000142015421308,-0.00075192835586,-6.97266883106e-05,1793244836907885568
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.802064354,745.802064354,713,683.802064354,653.197935646,628.802064354,880.802064354,781,807,651.802064354,629,652,0.453141989787,-0.00557814531262,0.0795059796922,0.999999703774,-0.000140728348248,-0.000753516155924,-6.97161142658e-05,1793244836924552448
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.226789928,745.226789928,713,683.226789928,653.773210072,628.226789928,880.226789928,781,807,651.226789928,629,652,0.453144477657,-0.00557816156247,0.0795076320623,0.999999705886,-0.000140402268237,-0.000750789462054,-6.94997911349e-05,1793244836941219072
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.347887598,745,713,683.347887598,653.652112402,628.347887598,880,781,806.652112402,651,629,652,0.453143735124,-0.00557801200691,0.0795065937368,0.999999705142,-0.000139413988838,-0.000751966229353,-6.94705066577e-05,1793244836957885696
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.488115267,745,713,684,653,629,880,781,806,651,629,652,0.453143255255,-0.00557837358513,0.0795053953028,0.999999704135,-0.000138998883755,-0.000753393103699,-6.93368119803e-05,1793244836991218944
+245,4.083333333,HOLD_POSE2,765,745,713,683,653,629,880,780,807,651,630,652,0.453142822889,-0.00558006586598,0.0795034390291,0.999999702033,-0.000142035580363,-0.000755610923147,-6.93716634204e-05,1793244837033763840
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,713,684,653.384085047,628.384085047,880.615914953,781,806,651.384085047,629,652,0.453092064015,-0.00557447370638,0.0794790273125,0.999999672397,-0.00013688950466,-0.000794778031297,-6.92395153699e-05,1793244837533059584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,713,684,653.96537218,628.96537218,880.03462782,781,806,651.96537218,629,652,0.453046799935,-0.00557348594842,0.0794592505129,0.999999644404,-0.000138180516799,-0.000829005171924,-6.96330883735e-05,1793244837549726464
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.388201778,634,879,786,805,652,630.611798222,652,0.405573000731,-0.00539791536638,0.0797901414934,0.999999916866,0.000225626819307,-0.000336625689025,4.52132328237e-05,1793244838883059968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.966582745,634,879,786,805,652,630.033417255,652,0.405151546223,-0.00539321729437,0.0798101756629,0.999999927031,0.000230282107356,-0.000301329372077,4.59116542442e-05,1793244838899726848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,785.459237714,805,652,630.540762286,652,0.404765512723,-0.00539531532785,0.0798202128624,0.999999930134,0.000229865576395,-0.000290998204198,4.70480955655e-05,1793244838916393728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.117640615,658,634,879,785,805,652,630.882359385,652,0.404387953232,-0.00539680281587,0.0798284465934,0.999999931712,0.000230278138034,-0.000285002428709,4.81844926737e-05,1793244838933060096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.706357714,658,634,879,785,805,652,630.293642286,652,0.404035629113,-0.00539417668142,0.0798319133146,0.999999928998,0.000235256070192,-0.000290237007796,4.92131579488e-05,1793244838949726720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.70835206,658,634,879,785,805,652,630.29164794,652,0.403700284153,-0.00539384353726,0.079832542581,0.999999928074,0.000233808713115,-0.000294717005535,4.82421610846e-05,1793244838966393088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.126472103,658,634,879,785,805,652,630.873527897,652,0.40338183594,-0.00539579225131,0.079830348168,0.999999928909,0.000225967260678,-0.000298446085026,4.5281210191e-05,1793244838983059968
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.549110499,745,714,679.549110499,658,634,878.549110499,785.450889501,805,651.549110499,630.549110499,652,0.403097014818,-0.00539607273927,0.0798303205263,0.999999927572,0.000230242579485,-0.000299586681778,4.57371059142e-05,1793244838999726336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.026821948,657.973178052,634,878.026821948,785.973178052,805.026821948,651,630,652,0.402823836314,-0.00539581705581,0.0798308778497,0.999999925679,0.000237602092163,-0.000299947814235,4.70947380314e-05,1793244839016393216
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.599208115,657.400791885,634,878.599208115,785.400791885,805.599208115,651,630,652,0.402597521177,-0.00539407886614,0.0798310940127,0.999999925529,0.000239250570445,-0.000299076080199,4.74930855861e-05,1793244839033060096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.176877071,745,714,680,657,633.823122929,879,785.176877071,805.823122929,651.176877071,630.176877071,652,0.402384135036,-0.0053933358024,0.0798319465354,0.99999992644,0.000238160229991,-0.000296839244002,4.78187372211e-05,1793244839049726720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.766884927,745,714,680,657,633.233115073,879,785.766884927,805.233115073,651.766884927,630.766884927,652,0.40220094711,-0.00539491704896,0.0798342854,0.999999929783,0.000230672845693,-0.000291413946435,4.79745933445e-05,1793244839066393344
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633.351600164,878.648399836,785.648399836,805,652,631,652,0.402033463428,-0.00539507861421,0.0798394899213,0.999999932948,0.000226841435958,-0.000283304811112,4.88414700873e-05,1793244839083059968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657,633.932858429,878.067141571,785.067141571,805,652,631,652,0.401876237423,-0.00539431287256,0.0798465662315,0.999999935954,0.000225398033946,-0.000273442646821,5.0172771099e-05,1793244839099726336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.494919399,657.505080601,634,878.505080601,785.505080601,805,652,630.494919399,652,0.401737044962,-0.00539470655145,0.0798466167961,0.999999935514,0.000226581336107,-0.000274055057522,5.02737600919e-05,1793244839116393216
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.922920633,679.077079367,657.922920633,633.922920633,879,785.922920633,805,652,630,652,0.401603378879,-0.00539506727627,0.0798450886657,0.999999933811,0.000230681618565,-0.000276971691731,4.95020933031e-05,1793244839133059584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.344701718,679.655298282,657.344701718,633.344701718,879,785.344701718,805,652,630,652,0.401490331081,-0.00539422930236,0.0798392619288,0.999999926506,0.000251516662682,-0.000285975689018,4.41014012936e-05,1793244839149726208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.239513266,680,657.239513266,633.239513266,878.760486734,785,805,651.760486734,630.239513266,652,0.401387470717,-0.00539475664264,0.0798340123935,0.999999922364,0.000259091286597,-0.000294071261032,4.08215904986e-05,1793244839166393344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.832579191,680,657.832579191,633.832579191,878.167420809,785,805,651.167420809,630.832579191,652,0.401299648334,-0.00539729936386,0.0798296148829,0.999999923398,0.000247091808484,-0.000300825879067,4.06724759312e-05,1793244839183059968
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.010700656,714,680,657.010700656,634,878.989299344,785.989299344,805,651.989299344,631,652,0.401163604684,-0.00539690612659,0.0798247259365,0.99999992209,0.000241935267229,-0.000309069321193,4.19846738801e-05,1793244839216393472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.564201442,714,679.435798558,657,634,878.435798558,785.435798558,804.435798558,652,631,652,0.401116721168,-0.00539558366317,0.0798226111599,0.999999921833,0.000242534518463,-0.000309384910443,4.23254995432e-05,1793244839233060096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.142987564,634,878,785.142987564,804.142987564,652,631,652,0.401074363823,-0.00539505420776,0.0798212597946,0.999999921853,0.000242302981995,-0.00030946144921,4.26333173603e-05,1793244839249726720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,657.734005339,634,878,785.734005339,804.734005339,652,631,652,0.401045127719,-0.00539704960279,0.0798222999475,0.999999922695,0.000239371656338,-0.000308989062912,4.28642609675e-05,1793244839266393344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.318530201,658,633.681469799,878.318530201,785.681469799,805,652,630.681469799,652,0.401020058754,-0.00539796625522,0.0798217818787,0.999999922613,0.000238103238526,-0.000310178579579,4.32482379227e-05,1793244839283059968
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.526783968,658,633.473216032,878.526783968,785,805,652,630.473216032,652,0.40098635461,-0.0053972784732,0.0798195657675,0.9999999218,0.000239180926913,-0.00031193135752,4.34793675143e-05,1793244839316393472
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.047839358,657.952160642,633.952160642,878,785.047839358,805,652,631,652,0.400976751256,-0.00539644102266,0.0798195849316,0.999999922018,0.000240357592904,-0.000310384655886,4.3047611561e-05,1793244839333060096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.621911211,657.378088789,633.378088789,878,785.621911211,805,652,631,652,0.400971340015,-0.00539611088072,0.0798212337073,0.999999922335,0.000241534949845,-0.000308481421975,4.27822867681e-05,1793244839349726720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.797730966,745,714,680,657.202269034,633.202269034,878,786,805,652,631,652,0.400967764087,-0.00539617684337,0.0798231735145,0.999999922999,0.000241864720445,-0.000306069859932,4.27240152153e-05,1793244839366393344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.20524634,745,714,680,657.79475366,633.79475366,878,786,805,652,631,652,0.40096772883,-0.00539700696743,0.079825674777,0.999999924331,0.000240559335061,-0.000302677635968,4.30651889186e-05,1793244839383059968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.378398721,745,713.621601279,679.621601279,657.621601279,634,878.378398721,786,805,652,630.621601279,652,0.400966877858,-0.00539771562081,0.079826750808,0.99999992498,0.000240010828306,-0.000300920712785,4.33673425961e-05,1793244839399726592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.957358566,745,713.042641434,679.042641434,657.042641434,634,878.957358566,786,805,652,630.042641434,652,0.400965594536,-0.00539835989157,0.0798270714295,0.999999925271,0.000239863486869,-0.000300030541483,4.36488146387e-05,1793244839416392960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.467527187,745,713.532472813,679.532472813,657.532472813,634,878.467527187,785.467527187,805,652,630.532472813,651.467527187,0.400966458327,-0.00539815190163,0.0798279881433,0.999999925583,0.000241372127638,-0.000297750854108,4.38049464449e-05,1793244839433059584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,785,805,652,631,651,0.400967498262,-0.0053977197652,0.0798289665452,0.999999925969,0.000242484233537,-0.000295539616654,4.3821015927e-05,1793244839449726464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,878,785,805,652,631,651,0.400968561871,-0.00539660610919,0.0798300072395,0.999999926703,0.000241294475454,-0.000294108136114,4.32701294049e-05,1793244839466393344
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.280370556,745,714,680.280370556,657.719629444,634,878.280370556,785,805,652,631,651,0.400968558341,-0.00539672808906,0.0798305404714,0.999999927193,0.000239893204813,-0.000293633195038,4.2942807121e-05,1793244839483059968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.859523698,745,714,680.859523698,657.140476302,634,878.859523698,785,805,652,631,651,0.400967417591,-0.00539816684932,0.079830532916,0.999999927426,0.000238266531364,-0.000294177609524,4.28537305478e-05,1793244839499726848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.564274164,657.435725836,634,878.564274164,785,805,652,631,651.435725836,0.400966611235,-0.00539783195683,0.0798298339357,0.999999927199,0.000239059932243,-0.000294297660609,4.28996312626e-05,1793244839516393216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.989166528,878.010833472,785.010833472,804.989166528,651.989166528,631,652,0.400965966208,-0.00539696548868,0.0798289546792,0.999999926841,0.000240601339782,-0.000294247353729,4.29843327027e-05,1793244839533059840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.421738475,878.578261525,785.578261525,804.421738475,651.421738475,631,652,0.400968108269,-0.0053979689652,0.0798301889247,0.999999927344,0.000240757249151,-0.000292426316961,4.28418086625e-05,1793244839549726720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.846195749,633.153804251,879,786,804.153804251,651,631,652,0.400969497147,-0.00539852625689,0.0798311867711,0.999999927702,0.000241061101326,-0.000290963164812,4.27361375847e-05,1793244839566393600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.247162911,633.752837089,879,786,804.752837089,651,631,652,0.40096870573,-0.00539779194411,0.0798315002956,0.999999927649,0.000241793214517,-0.000290536007951,4.27371475222e-05,1793244839583059968
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.683358148,634,879,786,805,651.341679074,630.658320926,652,0.400968079243,-0.0053975587933,0.0798311615755,0.999999927239,0.000242986023249,-0.000290943413161,4.28101358388e-05,1793244839599726336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.846725412,634,879,786,805,651.923362706,630.076637294,652,0.400967568607,-0.00539767767215,0.0798303647013,0.999999926574,0.000244502436869,-0.000291937037201,4.2933683702e-05,1793244839616392960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.501721855,745,714,680,658.501721855,634,879,786,805,652,630.498278145,652,0.400968050987,-0.00539721577768,0.0798314667487,0.999999927395,0.00024253105667,-0.000290777502516,4.28506759045e-05,1793244839633059840
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805,651.927720223,631,652,0.400968653578,-0.00539691110443,0.0798327451579,0.999999928335,0.000240302832537,-0.00028940465642,4.27718994162e-05,1793244839649726720
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879,786,805,651.352931735,631,652,0.400969044325,-0.00539831216856,0.0798332463963,0.999999928577,0.000239968441266,-0.000288820306915,4.29404480237e-05,1793244839666393088
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.229236621,744.770763379,714,680,658,634,878.770763379,786,805,651.229236621,631,652,0.400968915643,-0.00539877283494,0.0798332952847,0.999999928618,0.000239768606943,-0.000288839891351,4.29784094873e-05,1793244839683059712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.823145031,744.176854969,714,680,658,634,878.176854969,786,805,651.823145031,631,652,0.40096796065,-0.0053977375079,0.0798326245707,0.999999928338,0.000239782827038,-0.000289820219534,4.28086317107e-05,1793244839699726336
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.403980064,714,680,658,634,878.403980064,786,805,651.596019936,630.596019936,652,0.400967035477,-0.00539877134199,0.0798318658655,0.999999928318,0.00023858207834,-0.000290915284052,4.25504670232e-05,1793244839716392960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.97927119,714,680,658,634,878.97927119,786,805,651.02072881,630.02072881,652,0.400966122949,-0.00540068262091,0.079831069847,0.999999928405,0.000236866112155,-0.000292059003396,4.22548211511e-05,1793244839733059584
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a244f6e5adf9b07dc270cab4fcb3000121ed9cc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+1,0.016666667,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+2,0.033333333,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+3,0.050000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+4,0.066666667,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+5,0.083333333,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+6,0.100000000,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
+7,0.116666667,pose1_baseline,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
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+371,6.183333333,pose2_to_pose3_retreat,0.576116899454,-0.000122182564953,1.07005093352,0.546688532446,0.00855350238428,1.06971742252
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+375,6.250000000,pose2_to_pose3_retreat,0.57584164683,-0.000122222200061,1.07005092452,0.546413281177,0.00855346765639,1.06971742171
+376,6.266666667,pose2_to_pose3_retreat,0.575799258085,-0.000122168874981,1.07005088798,0.546370891085,0.00855351638408,1.06971738447
+377,6.283333333,pose2_to_pose3_retreat,0.575764830049,-0.000122055449999,1.07005099061,0.546336460412,0.00855362076263,1.06971748453
+378,6.300000000,pose2_to_pose3_retreat,0.575737736707,-0.000122052044553,1.07005103943,0.546309367913,0.00855362647495,1.06971751912
+379,6.316666667,pose2_to_pose3_retreat,0.575716524626,-0.000122277259074,1.07005088456,0.546288159635,0.00855341461232,1.06971737534
+380,6.333333333,pose2_to_pose3_retreat,0.575700903323,-0.000122252229623,1.07005087841,0.546272538618,0.00855344049479,1.06971736629
+381,6.350000000,pose2_to_pose3_retreat,0.575689342853,-0.000122171863431,1.07005095085,0.546260976793,0.00855351638606,1.06971744199
+382,6.366666667,pose2_to_pose3_retreat,0.575681351167,-0.000122237198915,1.0700508457,0.546252985372,0.00855345211812,1.06971734103
+383,6.383333333,pose2_to_pose3_retreat,0.575676790743,-0.000122287310282,1.07005078313,0.54624842572,0.00855340460574,1.06971727794
+384,6.400000000,pose2_to_pose3_retreat,0.575674014854,-0.000122178914592,1.07005096115,0.54624564964,0.00855351211248,1.06971744962
+385,6.416666667,pose2_to_pose3_retreat,0.575672528043,-0.000122106062722,1.07005096793,0.546244162151,0.00855358264259,1.06971745589
+386,6.433333333,pose2_to_pose3_retreat,0.57567192032,-0.00012206972277,1.07005093142,0.546243553895,0.00855361721483,1.06971742044
+387,6.450000000,pose2_to_pose3_retreat,0.575671887227,-0.000122067743932,1.07005092943,0.546243520773,0.00855361909741,1.06971741851
+388,6.466666667,pose2_to_pose3_retreat,0.575671783522,-0.000122061542661,1.0700509232,0.546243416976,0.00855362499703,1.06971741246
+389,6.483333333,pose2_to_pose3_retreat,0.575671574318,-0.000122049032916,1.07005091062,0.546243207589,0.00855363689825,1.06971740026
+390,6.500000000,pose2_to_pose3_retreat,0.575671347365,-0.000122035461846,1.07005089699,0.546242980437,0.00855364980918,1.06971738702
+391,6.516666667,pose2_to_pose3_retreat,0.575671328329,-0.000122034323578,1.07005089584,0.546242961384,0.00855365089208,1.06971738591
+392,6.533333333,pose2_to_pose3_retreat,0.575671137603,-0.000122022918759,1.07005088438,0.546242770491,0.00855366174212,1.06971737479
+393,6.550000000,pose2_to_pose3_retreat,0.575671081134,-0.000122019542084,1.07005088099,0.546242713972,0.00855366495454,1.06971737149
+394,6.566666667,pose2_to_pose3_retreat,0.575670964262,-0.000122012553484,1.07005087397,0.546242596997,0.00855367160319,1.06971736468
+395,6.583333333,pose2_to_pose3_retreat,0.575670826111,-0.000122020361245,1.07005090644,0.546242458795,0.00855366357795,1.06971739609
+396,6.600000000,pose2_to_pose3_retreat,0.575670671409,-0.000122031404699,1.07005094865,0.546242304045,0.00855365231735,1.06971743693
+397,6.616666667,pose2_to_pose3_retreat,0.575670502545,-0.000122043459142,1.07005099472,0.546242135128,0.00855364002588,1.0697174815
+398,6.633333333,pose2_to_pose3_retreat,0.575670496509,-0.00012204389006,1.07005099637,0.546242129089,0.00855363958649,1.06971748309
+399,6.650000000,pose2_to_pose3_retreat,0.575670407612,-0.000122050236017,1.07005102062,0.546242040164,0.00855363311575,1.06971750656
+400,6.666666667,pose2_to_pose3_retreat,0.57567037193,-0.000122052783182,1.07005103036,0.546242004471,0.0085536305185,1.06971751598
+401,6.683333333,pose2_to_pose3_retreat,0.575670283788,-0.000122059075208,1.0700510544,0.546241916302,0.00855362410275,1.06971753924
+402,6.700000000,pose2_to_pose3_retreat,0.575670242474,-0.000122062024449,1.07005106568,0.546241874975,0.00855362109552,1.06971755015
+403,6.716666667,pose2_to_pose3_retreat,0.575670135457,-0.000122069663874,1.07005109487,0.546241767925,0.00855361330588,1.06971757839
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7b4ef57fe3aba6bbe9c1ffaa063e7dd27af424c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:046dabc625c25f5136ac0e7e8d376d6ea3be398cfd4afb58f9b6bc82ac804b63
+size 25908639
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774e2b2af76b212108f48513c675769b0158cc5e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+37,0.616666667,BASELINE,764.473882807,745,714,680,658,634,879.473882807,786,805,651,631,652,0.400968435626,-0.00539905913242,0.0798350926793,0.999999929846,0.000239507999553,-0.00028491629719,4.20304072087e-05,1793244840465305600
+38,0.633333333,BASELINE,765,745,714,680,658,634,879.952894445,786,805,651.047105555,631,652,0.400967889914,-0.00539897665302,0.0798350711368,0.999999929372,0.000241635907582,-0.000284754303548,4.22322301088e-05,1793244840481972480
+39,0.650000000,BASELINE,765,745,714,680,658,634,879.382984051,786,805,651.617015949,631,652,0.400968738812,-0.00540042761623,0.0798358367458,0.999999930247,0.000238852700668,-0.000284078032112,4.18868992578e-05,1793244840498639360
+40,0.666666667,BASELINE,765,744.803254969,714,680,657.803254969,634,879,786,804.803254969,652,631,652,0.400968711849,-0.00540119869684,0.0798358600286,0.999999930586,0.000236921759437,-0.00028452394401,4.17346587692e-05,1793244840515305984
+41,0.683333333,BASELINE,765,744.203408901,714,680,657.203408901,634,879,786,804.203408901,652,631,652,0.400966890379,-0.00540057679996,0.0798343623965,0.999999929835,0.000236736982835,-0.000287269041151,4.19780314706e-05,1793244840531972608
+42,0.700000000,BASELINE,765,744.379388097,714,680,657.379388097,634,879,786,804.379388097,651.620611903,631,652,0.400967124639,-0.00539928679413,0.0798344369347,0.999999929694,0.000237763098388,-0.000286950414186,4.17069703968e-05,1793244840548639232
+43,0.716666667,BASELINE,765,744.953437329,714,680,657.953437329,634,879,786,804.953437329,651.046562671,631,652,0.400968413678,-0.00539765398673,0.0798353181415,0.999999929864,0.000239410513463,-0.000285059813688,4.11719572734e-05,1793244840565305856
+44,0.733333333,BASELINE,764.471032762,745,714,680,658,634,878.471032762,786,805.528967238,651.528967238,631,652,0.400966954687,-0.00539895544592,0.0798345886526,0.99999993018,0.00023710158991,-0.000285828594767,4.1539112711e-05,1793244840581972480
+45,0.750000000,BASELINE,764.107513195,744.892486805,714,680,658,634,878,786,805.892486805,651.892486805,631,652,0.400965726418,-0.00539995413255,0.0798338727162,0.999999930318,0.000235363877064,-0.000286727342616,4.18934782452e-05,1793244840598639104
+46,0.766666667,BASELINE,764.699048754,744.300951246,714,680,658,634,878,786,805.300951246,651.300951246,631,652,0.400966628932,-0.00539842365877,0.0798338578872,0.999999929629,0.000237770002018,-0.000287154354321,4.1831740077e-05,1793244840615305728
+47,0.783333333,BASELINE,765,744.284212558,714,679.715787442,658,634,878.284212558,786,805,651.284212558,631,652,0.400967065224,-0.00539768626769,0.0798344806703,0.999999929282,0.000239586515049,-0.000286829687768,4.19821147095e-05,1793244840631972608
+48,0.800000000,BASELINE,765,744.862777357,714,679.137222643,658,634,878.862777357,786,805,651.862777357,631,652,0.400967018663,-0.00539777025346,0.0798357638131,0.999999929293,0.000240792381219,-0.000285726525829,4.23521695579e-05,1793244840648639232
+49,0.816666667,BASELINE,765,745,714,679.438436795,658,634,879,786,805,651.561563205,631,652,0.400967587057,-0.00539841307366,0.0798357383537,0.999999929515,0.00024027768354,-0.0002853958157,4.22572530008e-05,1793244840665305856
+50,0.833333333,BASELINE,765,745,714,680,658,634,879,786,805,651.013495632,631,652,0.400968307692,-0.00539922266126,0.0798353002223,0.999999929803,0.000239194689329,-0.000285333171924,4.20164177975e-05,1793244840681972480
+51,0.850000000,BASELINE,765,745,714,680,658,634,879,786,805,651.601442257,631,652,0.400967369885,-0.00539973488359,0.0798346152222,0.999999930089,0.000236692691799,-0.000286457884835,4.17181536595e-05,1793244840698639104
+52,0.866666667,BASELINE,765,745,714,679.813407358,658,634,878.813407358,786,805,652,630.813407358,652,0.400966779253,-0.00539976892347,0.079834160067,0.999999930172,0.00023572072971,-0.000286981142866,4.16314973214e-05,1793244840715305728
+53,0.883333333,BASELINE,765,745,714,679.234141529,658,634,878.234141529,786,805,652,630.234141529,652,0.400966919228,-0.00539879665662,0.0798341886067,0.999999929838,0.000237968636945,-0.000286238674576,4.19901571123e-05,1793244840731972352
+54,0.900000000,BASELINE,765,745,714,679,658,634,878.687884808,786,805,652,630.343942404,652,0.400967721967,-0.00539841610453,0.0798349170174,0.999999929899,0.000239018837211,-0.000285136021449,4.20685727821e-05,1793244840748638976
+55,0.916666667,BASELINE,765,745,714,679,658,634,879.842448964,786,805,652,630.921224482,652,0.400968974342,-0.0053984369875,0.0798361202392,0.99999993023,0.000239256481124,-0.000283789009381,4.19568633722e-05,1793244840765305856
+56,0.933333333,BASELINE,764.505865934,745,714,679.494134066,658,634,879.505865934,786,805,652,631,652,0.400968220617,-0.00540033748216,0.0798356784075,0.999999931079,0.00023530035243,-0.000284132236909,4.17802531865e-05,1793244840781972736
+57,0.950000000,BASELINE,764.068655722,744.931344278,714,680,658,634,879,786,805,652,631,652,0.400967319255,-0.00540198443622,0.0798350220429,0.999999931757,0.000231805600311,-0.000284639385036,4.1615024609e-05,1793244840798639616
+58,0.966666667,BASELINE,764.660735085,744.339264915,714,680,658,634,879,786,805,652,631,652,0.400967709173,-0.00539943396109,0.0798347119823,0.999999930648,0.000236880782916,-0.000284359929015,4.16147574787e-05,1793244840815305984
+59,0.983333333,BASELINE,765,744.247278125,714,680,658,634,879,786,805,652,631,652,0.400968003629,-0.00539790806805,0.0798347441749,0.999999929961,0.000240041462909,-0.000284114418001,4.16820454011e-05,1793244840831972352
+60,1.000000000,BASELINE,765,744.826391765,714,680,658,634,879,786,805,652,631,652,0.400968169978,-0.00539775711522,0.0798352356549,0.999999929869,0.000240632971937,-0.000283914459544,4.18399890003e-05,1793244840848638976
+61,1.016666667,BASELINE,764.597010068,745,714,680,658,634,878.597010068,786,805,651.597010068,631,652,0.400968412148,-0.00539844574337,0.0798356558189,0.999999929788,0.000240811960612,-0.000284011758584,4.20820882408e-05,1793244840865305600
+62,1.033333333,BASELINE,764.02148888,745,714,680,658,634,878.02148888,786,805,651.02148888,631,652,0.400968686777,-0.00539949381963,0.0798360454507,0.999999929712,0.000240814337755,-0.000284236321881,4.23602168547e-05,1793244840881972224
+63,1.050000000,BASELINE,764.552156906,745,714,680,658.552156906,634,878,786,805,651.552156906,631,652,0.400969028271,-0.00539903842993,0.079835817384,0.999999930069,0.000239279488971,-0.000284301599474,4.21838485859e-05,1793244840898638848
+64,1.066666667,BASELINE,765,744.870223071,714,680,658.870223071,633.870223071,878,786,805.129776929,652,631,652,0.400968818255,-0.0053987462585,0.0798355044169,0.99999993032,0.000237927901995,-0.000284582986663,4.19800763233e-05,1793244840915305472
+65,1.083333333,BASELINE,765,744.278187973,714,680,658.278187973,633.278187973,878,786,805.721812027,652,631,652,0.400966634558,-0.00539924317238,0.0798349743774,0.99999993014,0.00023744145848,-0.000285656150232,4.1741483475e-05,1793244840931972352
+66,1.100000000,BASELINE,765,744.306650757,714,680,658.306650757,633.306650757,878.306650757,786,805.693349243,652,631,652,0.400965921698,-0.00539952754704,0.0798348831462,0.999999930125,0.000237031401558,-0.000286060544955,4.16475994516e-05,1793244840948639232
+67,1.116666667,BASELINE,765,744.885110735,714,680,658.885110735,633.885110735,878.885110735,786,805.114889265,652,631,652,0.400966512558,-0.00539962353106,0.0798351808661,0.999999930259,0.000236689052241,-0.00028587215602,4.16819825078e-05,1793244840965305600
+68,1.133333333,BASELINE,765,745,714,680,658.538628941,634,878.538628941,786,805,651.538628941,631,652,0.400966558558,-0.00539895378131,0.0798349980946,0.999999930272,0.000236910489909,-0.000285659195641,4.15601350644e-05,1793244840981972480
+69,1.150000000,BASELINE,765,745,714,680,658,633.962164841,878.037835159,786,805,651.037835159,631,652,0.400966538436,-0.00539814288287,0.0798347469979,0.999999930268,0.000237277292195,-0.000285391708048,4.14053595459e-05,1793244840998639104
+70,1.166666667,BASELINE,765,745,714,680,658,633.374824159,878.625175841,786,805,651.625175841,631,652,0.400967519206,-0.00539803823242,0.0798352330886,0.999999930441,0.000237725981561,-0.000284420729658,4.13346963725e-05,1793244841015305728
+71,1.183333333,BASELINE,765,745,714,680,658,633.210766973,878.789233027,786,804.789233027,652,631,652,0.400968325839,-0.00539797454479,0.0798357274625,0.999999930488,0.000238715749843,-0.000283428277608,4.13124567269e-05,1793244841031972352
+72,1.200000000,BASELINE,765,745,714,680,658,633.793272446,878.206727554,786,804.206727554,652,631,652,0.400968825342,-0.00539798310498,0.0798362364458,0.999999930311,0.000240659841651,-0.000282397951409,4.13756236656e-05,1793244841048638976
+73,1.216666667,BASELINE,764.631332944,745,714,680,658,634,878.368667056,785.631332944,804.368667056,652,631,652,0.400968821754,-0.00539784845925,0.0798363275982,0.999999930082,0.000241538491555,-0.000282428240016,4.15978241942e-05,1793244841065305600
+74,1.233333333,BASELINE,764.059850284,745,714,680,658,634,878.940149716,785.059850284,804.940149716,652,631,652,0.400968541399,-0.00539763503134,0.0798361888883,0.999999929824,0.00024183100749,-0.000283042007001,4.19075142114e-05,1793244841081972480
+75,1.250000000,BASELINE,764,745,714,680,658,634,879,785.516657704,805,651.483342296,631,652,0.400969237602,-0.00539949858889,0.0798368387685,0.999999930787,0.000238939194283,-0.000282072557264,4.20531005605e-05,1793244841098639104
+76,1.266666667,BASELINE,764,745.095757873,714,680,658,634,879,785.904242127,805.095757873,651,631,652,0.400969572429,-0.00540094029427,0.0798371925016,0.999999931542,0.000236368411096,-0.000281556783342,4.20938496578e-05,1793244841115305984
+77,1.283333333,BASELINE,764,745.685191226,714,680,658,634,879,785.314808774,805.685191226,651,631,652,0.400967455251,-0.00539895457003,0.0798355438785,0.999999930535,0.00023737309079,-0.000284334722156,4.16930826537e-05,1793244841131972352
+78,1.300000000,BASELINE,764.270677724,745.729322276,714,680,658,634,879,785.270677724,805.729322276,651.270677724,631,652,0.400966838955,-0.00539791885058,0.0798349221445,0.999999929877,0.000239082305246,-0.000285222167513,4.16505119661e-05,1793244841148638976
+79,1.316666667,BASELINE,764.851639808,745.148360192,714,680,658,634,879,785.851639808,805.148360192,651.851639808,631,652,0.400967943157,-0.00539797214452,0.079835477558,0.99999992962,0.000241599144711,-0.000283942494735,4.20185503256e-05,1793244841165305600
+80,1.333333333,BASELINE,765,745,714,679.572935575,658,634,878.572935575,786,805,651.572935575,631,652,0.400968882029,-0.00539831088393,0.0798359395258,0.999999930048,0.000240801626711,-0.000283134850402,4.18828507577e-05,1793244841181972224
+81,1.350000000,BASELINE,764.999407344,744.999407344,714,679.000592656,658,634,878.000592656,785.999407344,804.999407344,651,631,652,0.400969762769,-0.00539874895875,0.0798363687338,0.999999930707,0.000238867945855,-0.000282489931833,4.15750351047e-05,1793244841198639104
+82,1.366666667,BASELINE,764.423319926,744.423319926,714,679.576680074,658,634,878.576680074,785.423319926,804.423319926,651,631,652,0.400969253314,-0.00540058754121,0.0798361058232,0.999999930991,0.000237411420098,-0.000282664911563,4.18888152124e-05,1793244841215305728
+83,1.383333333,BASELINE,764.157537843,744.157537843,714,680,658,634,878.842462157,785.157537843,804.157537843,651.157537843,631,652,0.400968607048,-0.00540171922844,0.0798357179778,0.999999930987,0.000236782419248,-0.00028319158568,4.1988729469e-05,1793244841231972352
+84,1.400000000,BASELINE,764.751614424,744.751614424,714,680,658,634,878.248385576,785.751614424,804.751614424,651.751614424,631,652,0.400967581675,-0.00540089210322,0.0798349839372,0.999999930186,0.000238446496823,-0.000284692808058,4.14960196539e-05,1793244841248639232
+85,1.416666667,BASELINE,765,744.665129915,714,680,658.334870085,634,878,786,805,652,631,652,0.40096692363,-0.00539985749794,0.0798346954206,0.999999929598,0.000240099684716,-0.000285364000531,4.15118319716e-05,1793244841265305856
+86,1.433333333,BASELINE,765,744.089649325,714,680,658.910350675,634,878,786,805,652,631,652,0.400966529517,-0.00539867381436,0.0798347270214,0.999999929164,0.000241745048066,-0.000285438800692,4.18930271114e-05,1793244841281972480
+87,1.450000000,BASELINE,764.515076084,744.484923916,714,680,658.515076084,634,878.484923916,786,805,651.515076084,631,652,0.400968180107,-0.00539862195624,0.0798355742246,0.99999992963,0.000241728860609,-0.000283800357401,4.20096078482e-05,1793244841298639360
+88,1.466666667,BASELINE,764.061130792,745,714,680,658,634,879,786,805,651.061130792,630.938869208,652,0.400969778511,-0.00539879879638,0.0798363590938,0.999999930201,0.000241200761617,-0.00028223063104,4.20332285583e-05,1793244841315305984
+89,1.483333333,BASELINE,764.652973798,745,714,680,658,634,879,786,805,651.652973798,630.347026202,652,0.40096764825,-0.00539914792346,0.0798352962169,0.999999930269,0.000238890251555,-0.000284002080657,4.16737192574e-05,1793244841331972608
+90,1.500000000,BASELINE,765,745,714,680,658,634,879,786,805,652,630,652,0.400966460665,-0.00539903370004,0.079834705477,0.999999930285,0.000237622477976,-0.000285044282554,4.14122054011e-05,1793244841348639232
+91,1.516666667,BASELINE,765,745,714,680,658,634,879,786,805,652,630,652,0.400966609318,-0.00539826268039,0.0798347839884,0.999999930238,0.000237832776452,-0.000285052780633,4.12895994503e-05,1793244841365305856
+92,1.533333333,BASELINE,764.60783045,745,714,680,658.39216955,634,878.60783045,786,805,651.60783045,630.39216955,652,0.400966612252,-0.00539854019097,0.0798348008596,0.999999930033,0.000238303199793,-0.000285371451827,4.13442767489e-05,1793244841381972480
+93,1.550000000,BASELINE,764.03327148,745,714,680,658.96672852,634,878.03327148,786,805,651.03327148,630.96672852,652,0.400966547414,-0.0053993053498,0.0798347890633,0.999999929754,0.0002388946015,-0.000285834377707,4.14814045717e-05,1793244841398639360
+94,1.566666667,BASELINE,764.555239375,745,714,680,658.444760625,634,878.555239375,786,805,651.555239375,631,652,0.400967904232,-0.00540046312398,0.0798357172662,0.999999930804,0.00023649765922,-0.000284108394644,4.17590955406e-05,1793244841415305984
+95,1.583333333,BASELINE,765,745,714,679.857913094,658,634,878.857913094,786,805,651.857913094,630.857913094,652,0.400968746653,-0.00540063738362,0.0798363321048,0.999999931429,0.000235325534974,-0.000282865746971,4.18514341261e-05,1793244841431972608
+96,1.600000000,BASELINE,765,745,714,679.278818812,658,634,878.278818812,786,805,651.278818812,630.278818812,652,0.400967738212,-0.00539771248808,0.0798358054413,0.999999930515,0.000238485451819,-0.00028352347708,4.13471230211e-05,1793244841448638976
+97,1.616666667,BASELINE,765,745,714,679,658,634,878,786,805,651,630.298805322,651.701194678,0.400968698604,-0.00539701911743,0.0798364416124,0.999999930416,0.00024016871411,-0.000282440949291,4.13896348058e-05,1793244841465305600
+98,1.633333333,BASELINE,765,745,714,679,658,634,878,786,805,651,630.875064323,651.124935677,0.400971487143,-0.00539839781443,0.0798381575256,0.999999931077,0.000240480838518,-0.000279742516646,4.19398953522e-05,1793244841481972224
+99,1.650000000,BASELINE,764.552617716,745,714,679.447382284,658,634,878.447382284,786,805,651,630.552617716,651,0.400969748196,-0.00539988108105,0.0798371291301,0.999999931184,0.000237864830554,-0.000281604927398,4.18470299309e-05,1793244841498638848
+100,1.666666667,BASELINE,764.019354421,745,714,680,658,634,878.980645579,786,805,651.019354421,630,651.019354421,0.400966867208,-0.00540133822399,0.0798354163799,0.999999931125,0.000234568581104,-0.000284600766859,4.15901663352e-05,1793244841515305472
+101,1.683333333,BASELINE,764.613454324,745,714,680,658,634,878.386545676,786,805,651.613454324,630,651.613454324,0.400967290172,-0.00540115999757,0.0798359405284,0.999999931222,0.000235142480497,-0.000283762653219,4.17500081074e-05,1793244841531972352
+102,1.700000000,BASELINE,765,745,714,680,657.797782223,634,878,785.797782223,805,651.797782223,630.202217777,652,0.400967513998,-0.00540070318821,0.0798359560383,0.999999931036,0.000236162832112,-0.000283568906521,4.17685410914e-05,1793244841548639232
+103,1.716666667,BASELINE,765,745,714,680,657.218957357,634,878,785.218957357,805,651.218957357,630.781042643,652,0.400967366951,-0.00539972755055,0.0798350242678,0.999999930321,0.000238014648998,-0.000284575218395,4.15239028743e-05,1793244841565305600
+104,1.733333333,BASELINE,764.641977028,745,714,679.641977028,657.358022972,634,878.358022972,785.358022972,805,651,631,652,0.400967476878,-0.00539883070066,0.0798349196456,0.999999929924,0.000239629941703,-0.000284631865149,4.1408477659e-05,1793244841581972224
+105,1.750000000,BASELINE,764.066118931,745,714,679.066118931,657.933881069,634,878.933881069,785.933881069,805,651,631,652,0.400967743159,-0.00539798178822,0.0798353182926,0.99999992972,0.000241101324059,-0.000284110698743,4.13716706441e-05,1793244841598638848
+106,1.766666667,BASELINE,764,745,714,679.503895043,658,634,878.496104957,786,805,651.503895043,631,652,0.400968045745,-0.00539791404573,0.0798362373079,0.999999929915,0.000241717953566,-0.000282834590449,4.17865172231e-05,1793244841615305472
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,879,786,806,651,630,652,0.400965998862,-0.00539746605129,0.0798349658956,0.999999930176,0.000237675282669,-0.000285421892927,4.11319090707e-05,1793244841657733376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.576396408,745,714,679.423603592,657.423603592,634,879,786,805.423603592,651,630,652,0.400967843745,-0.00539810903565,0.0798358729388,0.999999930641,0.000237868195332,-0.000283628082202,4.11239831898e-05,1793244841674400000
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.847919933,714,679.152080067,657.152080067,634,878.847919933,786,805.152080067,651.152080067,630.152080067,652,0.400968780893,-0.00539851396314,0.0798361691039,0.99999993072,0.000238524154376,-0.000282796176333,4.11286569339e-05,1793244841691066624
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.274212176,714,679.725787824,657.725787824,634,878.274212176,786,805.725787824,651.725787824,630.725787824,652,0.400967201426,-0.00539825890048,0.0798347716675,0.999999929734,0.000240463866025,-0.000284631060854,4.11682619522e-05,1793244841707733248
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.308925241,714,679.691074759,658,634,878.617850482,786,805.382149518,651.691074759,631,651.691074759,0.400966742903,-0.00539806085798,0.0798345932027,0.999999929473,0.00024079580914,-0.00028525083503,4.12659875193e-05,1793244841724399872
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.900696232,714,679.099303768,658,634,879.801392463,786,804.198607537,651.099303768,631,651.099303768,0.400967310693,-0.00539791502202,0.0798355308038,0.999999929881,0.000239655711537,-0.000284758078451,4.14169270919e-05,1793244841741066496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.517820572,745,714,679.482179428,658,634,879.517820572,786,804.482179428,651,631,651.482179428,0.400967188181,-0.00539759026041,0.0798351393086,0.999999929551,0.000240799810828,-0.000284923980782,4.16065099884e-05,1793244841757733120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061117168,744.938882832,714,679.938882832,658,634,878.938882832,786,805,651,631,652,0.400967429575,-0.00539746430467,0.0798349439808,0.999999929337,0.000242034935619,-0.000284601218351,4.18074570267e-05,1793244841774399744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.636095111,744.363904889,714,679.363904889,658,634,878.363904889,786,805,651,631,652,0.400971900964,-0.00539931321781,0.0798386513306,0.999999931342,0.000240162770705,-0.000279053175144,4.2038435815e-05,1793244841791066624
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.7900323,744.2099677,714,679,658,634,878,786,805,651.2099677,631,652,0.400978823456,-0.00540087280211,0.0798424781631,0.999999933375,0.000238665665241,-0.00027296477916,4.21863778382e-05,1793244841807733504
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.21806548,744.78193452,714,679,658,634,878,786,805,651.78193452,631,652,0.400989971822,-0.0054019335629,0.0798465109918,0.999999935469,0.000237815188918,-0.000265944777464,4.21911585999e-05,1793244841824400128
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.368455024,745,714,679,658,634,878.368455024,786,805,651.631544976,631,652,0.401016434899,-0.00540101223431,0.0798567003721,0.999999940276,0.000237906442523,-0.000247130418161,4.21300149649e-05,1793244841841066752
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.963943215,745,714,679,658,634,878.963943215,786,805,651.036056785,631,652,0.401052334536,-0.00539886958979,0.0798706832725,0.999999946226,0.000238577967363,-0.000221048657163,4.20282502725e-05,1793244841857733376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.457196342,745,714,679.542803658,658,634,878.457196342,786,804.457196342,651.542803658,631,652,0.401116051907,-0.00540083536186,0.0798909681641,0.999999954395,0.000238553745834,-0.000180361333094,4.20936367555e-05,1793244841874400000
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.119910444,786,804.119910444,651.880089556,631,652,0.401183284532,-0.00540257381321,0.0799099468514,0.999999960256,0.000238582613424,-0.000144258047437,4.19044227476e-05,1793244841891066624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,634,878.694431922,786,804.694431922,651.305568078,631,652,0.401257046963,-0.00540244651798,0.0799224334618,0.999999962281,0.000238982766511,-0.000129102965983,4.07091092755e-05,1793244841907733248
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.268249701,745,714,680,658,634,878.731750299,786,805,651,631,652,0.40133816334,-0.00540367035225,0.0799308370069,0.999999964338,0.000237021788954,-0.000116776754797,3.88259315846e-05,1793244841924399872
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.841267946,745,714,680,658,634,878.158732054,786,805,651,631,652,0.401427634807,-0.00540642925542,0.0799346016275,0.999999966551,0.000232378242334,-0.000107664530131,3.61612456357e-05,1793244841941066752
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.430183249,786,805,651,631,652,0.401530766476,-0.00540883214207,0.0799374731361,0.999999967968,0.000229119539028,-0.000102338521499,3.31042973832e-05,1793244841957733376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.975552888,714,680,658,634,879,785.975552888,805,651,631,652,0.401640561254,-0.00541102080883,0.0799402024986,0.999999969097,0.000226472120421,-9.81084553301e-05,2.98599360688e-05,1793244841974399744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.398081267,714,680,658,634,879,785.398081267,805,651,631,652,0.401782687707,-0.00541144923418,0.0799474571584,0.999999970523,0.00022564995729,-8.58539321213e-05,2.57758863088e-05,1793244841991066624
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.178275733,714,680,658,633.821724267,878.821724267,785.178275733,804.821724267,651.178275733,631,652,0.401932861291,-0.00541233408152,0.0799535736168,0.999999972029,0.000223231426552,-7.52224245385e-05,2.12267911703e-05,1793244842007733248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.752159225,714,680,658,633.247840775,878.247840775,785.752159225,804.247840775,651.752159225,631,652,0.402100892066,-0.00541423176482,0.0799571643167,0.999999973949,0.00021727043171,-6.81925169097e-05,1.5645724604e-05,1793244842024399872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.663837377,658,633.336162623,878.336162623,786,804.336162623,652,631,652,0.40228747021,-0.0054162119423,0.079960470053,0.999999975707,0.00021130853515,-6.19589903889e-05,9.78514709076e-06,1793244842041066752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.07214129,658,633.92785871,878.92785871,786,804.92785871,652,631,652,0.402488147124,-0.00541825482779,0.0799635591752,0.999999977323,0.000205345952519,-5.6330830914e-05,3.71209920153e-06,1793244842057733376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.5077681,658,634,879,786,805,651.4922319,631,652,0.402706851236,-0.00542037181448,0.0799596349688,0.999999978816,0.000195704477808,-6.36314381396e-05,-4.4452729448e-06,1793244842074400000
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.914564755,745,714,680,658,634,879,786,805,651,631,652,0.402932841563,-0.00542222176964,0.0799546687943,0.999999979882,0.000186366549741,-7.30599003069e-05,-1.2849839145e-05,1793244842091066624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.34036217,745,714,680,658,634,879,786,805,651,631,652,0.403186195665,-0.00542248519921,0.0799493127237,0.999999979713,0.000181687547417,-8.43915308156e-05,-2.10128787702e-05,1793244842107733504
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.240063814,745,714,680,658,634,878.759936186,786,805,651,630.759936186,652,0.403467446157,-0.00542449066678,0.0799471156708,0.999999985046,0.000146123124854,-8.8105539648e-05,-2.81606425151e-05,1793244842124400128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.829548119,745,714,680,658,634,878.170451881,786,805,651,630.170451881,652,0.403789300713,-0.00542903172587,0.0799495166685,0.999999994017,6.56039937851e-05,-8.07318576198e-05,-3.38306394307e-05,1793244842141066752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785.58830369,805,651,630.41169631,652,0.404136446738,-0.00542991118913,0.07995408701,0.999999993996,7.62387387368e-05,-7.31734394639e-05,-2.90008770321e-05,1793244842157733376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878,785.00913966,805,651,630.99086034,652,0.40449388069,-0.00542930120706,0.079959539786,0.999999989972,0.000123952593176,-6.55398754528e-05,-1.99000760882e-05,1793244842174399744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.5672772,634,878.5672772,785.5672772,805,651,631,652,0.404903258759,-0.00543338221653,0.0799614811628,0.999999990461,0.000124142615095,-5.52273497259e-05,-2.48282201203e-05,1793244842191066624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.85662034,658.85662034,634,879,786,805.14337966,651.14337966,631,652,0.405316753943,-0.00543719168252,0.0799608741578,0.999999991068,0.000120066427054,-5.0768896719e-05,-2.94984678736e-05,1793244842207733248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.281332377,658.281332377,634,879,786,805.718667623,651.718667623,631,652,0.40574014234,-0.00543995659491,0.0799527601576,0.999999991854,0.000105434330423,-6.40742956038e-05,-3.27142554922e-05,1793244842224399872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301353968,745,714,679.301353968,658,634,879,786,805.698646032,652,631,652,0.406193978313,-0.00544306155392,0.0799452393172,0.999999991362,0.000100507760147,-7.78993520516e-05,-3.32566941618e-05,1793244842241066496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.891121059,745,714,679.891121059,658,634,879,786,805.108878941,652,631,652,0.406676954419,-0.00544649195749,0.0799382861638,0.999999989761,0.000104869936456,-9.22217523166e-05,-3.12405841377e-05,1793244842257733376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.527671454,745,714,680,658,634,879,785.527671454,805,651.527671454,630.527671454,652,0.407183428728,-0.00545803913726,0.0799339313641,0.999999990527,8.87149577083e-05,-0.000100171412379,-3.22703207414e-05,1793244842274400000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.948811155,785,805,651,630,651.948811155,0.407697269058,-0.00547220784416,0.0799292472217,0.999999991259,6.74518543212e-05,-0.000108602085251,-3.37319076839e-05,1793244842291066880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.374135081,785,805,651,630,651.374135081,0.408232030697,-0.00549439205783,0.0799151787345,0.999999989266,4.14559689127e-05,-0.000136707479743,-3.25574243011e-05,1793244842307733504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.199958757,785,805,651,630.199958757,651,0.408801293332,-0.00550896418906,0.0799127534813,0.999999988857,2.52713942892e-05,-0.000143618990195,-3.19530956109e-05,1793244842324400128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.772966325,785,805,651,630.772966325,651,0.409434921987,-0.00550933499897,0.0799320501812,0.99999999294,2.73910849707e-05,-0.000110990579348,-3.24124640393e-05,1793244842341067008
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.358545155,658.358545155,634,879,785.358545155,805,651,631,651.358545155,0.410117199439,-0.00551101686335,0.0799628939704,0.999999997498,2.44537095292e-05,-5.79510893974e-05,-3.23577771389e-05,1793244842357733376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.952373429,658.952373429,634,879,785.952373429,805,651,631,651.952373429,0.410831400992,-0.00551355906282,0.0800013151451,0.999999999288,1.8197805509e-05,8.48247902415e-06,-3.19657587161e-05,1793244842374399744
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.469050656,745,714,680.469050656,658.469050656,634,878.469050656,786,805,651,631,652,0.411501701769,-0.00552034842639,0.0799962816144,0.999999999388,6.66036541113e-06,-5.34218139052e-06,-3.39346504634e-05,1793244842391066880
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.107850764,745,714,680.107850764,658.107850764,634,878.107850764,786,805,651,630.892149236,652,0.412171172182,-0.00552567717438,0.0799815670935,0.999999998792,-2.95624328589e-06,-3.28231517473e-05,-3.64651605792e-05,1793244842407733760
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+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.146370853,634,879,786,805,651,630.853629147,652,0.414317181591,-0.00553325142409,0.0799168564784,0.999999992514,-3.10114260003e-05,-0.000109083428829,-4.59532151987e-05,1793244842457733376
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.564554763,658.435445237,633.564554763,879,785.564554763,805.435445237,651,630.564554763,652,0.415131745871,-0.00553866957628,0.0799388398046,0.999999995692,-3.63943462095e-05,-7.23312207174e-05,-4.53846735522e-05,1793244842474400000
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.985137034,745,714,680,659,633.014862966,878.985137034,785.014862966,806,651,630,651.985137034,0.415966006313,-0.00554314973437,0.0799674298928,0.999999997958,-3.68946597444e-05,-2.81329265221e-05,-4.39409590001e-05,1793244842491066624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407827301,745,714,680,659,633.592172699,878.407827301,785.592172699,806,651,630,651.407827301,0.416743693397,-0.00554464787684,0.0799510742972,0.999999996154,-3.69730959597e-05,-6.63160484056e-05,-4.38967398495e-05,1793244842507733248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.168096062,744.831903938,714,680.168096062,659,634,878.168096062,785.831903938,805.831903938,651,630.168096062,651,0.417552138235,-0.00554862672389,0.0799453333798,0.999999995057,-4.2159787881e-05,-7.83371923215e-05,-4.44148600568e-05,1793244842524400128
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.740683357,744.259316643,714,680.740683357,659,634,878.740683357,785.259316643,805.259316643,651,630.740683357,651,0.418434595718,-0.00555857491509,0.0799651346698,0.999999996775,-5.96385265559e-05,-2.74045051435e-05,-4.62861431284e-05,1793244842541066496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.323746785,714,681,659,634,879,785,805,651,630.676253215,651.323746785,0.419310440533,-0.00556442874441,0.0799804555031,0.999999996349,-7.02326015604e-05,7.29182453233e-06,-4.81233901915e-05,1793244842557733376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.91548203,714,681,659,634,879,785,805,651,630.08451797,651.91548203,0.420180811523,-0.00556689337589,0.0799920675397,0.999999995524,-7.51277452926e-05,2.85481526556e-05,-4.99324631775e-05,1793244842574400512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.496197493,745,714,681,659,634,879,785.496197493,805.496197493,651,630,652,0.421069639724,-0.00557142519847,0.0799796012557,0.999999995296,-8.25820165792e-05,5.52980340263e-06,-5.05824709476e-05,1793244842591066624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.85035907,745,714,681,659.074820465,634,879,786,806,651,630.074820465,652,0.421965876977,-0.00557394418185,0.0799685711722,0.999999994762,-8.74678905131e-05,-1.57416086012e-05,-5.07692625315e-05,1793244842607733248
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.696552877,745,714,681,659.651723561,634,879,786,806,651,630.651723561,652,0.42289119386,-0.0055606445265,0.0799941024964,0.999999995889,-7.22569813333e-05,2.42166552454e-05,-4.91436803616e-05,1793244842624399872
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+167,2.783333333,POSE1_TO_POSE2_PRESS,764.818247642,745,714,681,660,634,879,786,806,651,631,652,0.424653991813,-0.00550625362306,0.0800034724363,0.999999998686,8.7685017662e-06,2.00411496946e-05,-4.63671978773e-05,1793244842657733376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.600366951,745,714,681,659.600366951,634,879,786,806,651,630.600366951,652,0.425531198483,-0.00550287967065,0.0799693183198,0.999999998028,9.2297428577e-06,-3.87661659364e-05,-4.85318230368e-05,1793244842674400000
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021061396,745,714,681,659.021061396,634,879,786,806,651,630.021061396,652,0.426415057232,-0.00551291685144,0.0799217546131,0.999999991946,-1.32342193975e-05,-0.000114901123807,-5.2247658955e-05,1793244842691066880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659.555911324,634,879,785.444088676,806,651,630.555911324,652,0.427366931021,-0.0055190759614,0.0799172552331,0.999999992621,-2.5935767595e-05,-0.000105565618277,-5.42280481429e-05,1793244842707733248
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132824405,745,714,681,659.867175595,634,879,785,806,651,630.867175595,652,0.428313146293,-0.00552440223812,0.0799188807682,0.999999993428,-3.51861128573e-05,-9.41567043101e-05,-5.51400690081e-05,1793244842724400128
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.709832344,745,714,681,659.290167656,634,879,785,806,651,630.290167656,652,0.429231857342,-0.0055274326893,0.0799355555643,0.99999999428,-3.41268479111e-05,-8.65976166082e-05,-5.26982725355e-05,1793244842741066752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.707803586,745,714,681.292196414,659,634,879,785.292196414,806,651,630,652,0.430163410946,-0.00553164858934,0.0799650518838,0.999999996625,-3.99424739149e-05,-5.03284516781e-05,-5.1208438695e-05,1793244842757733376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.120021287,745,714,681.879978713,659,634,879,785.879978713,806,651,630,652,0.431107956022,-0.00553706368924,0.0800075184548,0.999999997214,-5.27127393498e-05,1.49838263053e-05,-5.06816102063e-05,1793244842774400000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659.461059948,634,879,786,806,651,630.461059948,652,0.432026157514,-0.0055377985732,0.0800237305733,0.999999996657,-5.20719643911e-05,3.83945214053e-05,-5.00062900134e-05,1793244842791066624
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.040266361,745,714,682,660,634,879,786,806,651,631,652,0.432932994041,-0.00553660666453,0.0800274153019,0.999999996706,-4.77534570955e-05,4.28789627526e-05,-4.96947879871e-05,1793244842807733248
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.617400033,745,714,682,660,634,879,786,806,651,631,652,0.433778424302,-0.00552573625683,0.0799538912752,0.999999995791,-4.02798987525e-05,-6.16312138874e-05,-5.47420335814e-05,1793244842824400128
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.197189184,682,660,633.802810816,879,786,806,651,631,652,0.434634650972,-0.0055208703824,0.0799098861733,0.999999990232,-3.75694770792e-05,-0.00012150260859,-5.79859746925e-05,1793244842841066752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.782201115,682,660,633.217798885,879,786,806,651,631,652,0.43551211168,-0.00552781394988,0.0799239375417,0.99999999298,-4.42269760442e-05,-9.35804903797e-05,-5.76832601535e-05,1793244842857733376
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.636306525,745,714.636306525,682,659.636306525,633,879,786,806,651,631,652,0.436382445848,-0.00553337262519,0.079948713654,0.999999995195,-5.07526978278e-05,-6.28763668115e-05,-5.54976456861e-05,1793244842874400256
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.056901704,745,714.056901704,682,659.056901704,633,879,786,806,651,631,652,0.437248553119,-0.00553810990246,0.079979850751,0.999999996536,-5.72002604168e-05,-3.05222012093e-05,-5.21952586894e-05,1793244842891066880
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659,633.522462593,879,785.477537407,806,651,630.477537407,652,0.43808561501,-0.00554093550196,0.0799816887119,0.999999996237,-6.09847031724e-05,-2.94526572507e-05,-5.42088916263e-05,1793244842907733504
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,713.898854552,682.101145448,659,634,879.101145448,785.101145448,806,651,630,652,0.438907245524,-0.0055432055995,0.079972517142,0.999999995301,-6.48604175548e-05,-4.46507808062e-05,-5.65457790537e-05,1793244842924399872
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+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,713.842870271,683,659,633.157129729,880,785.157129729,806,651,630.842870271,652,0.441000604978,-0.00553378927958,0.0797554247194,0.999999922627,-6.36735630112e-05,-0.000382577275999,-6.57731935192e-05,1793244842974400000
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.423969417,745,714,683,658.576030583,633,880,785,806,651,630.576030583,652,0.441679808738,-0.0055290748851,0.0796995372199,0.999999890857,-5.69336732594e-05,-0.000458513231364,-6.93561797299e-05,1793244842991066880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713.996771862,682.996771862,658.003228138,633,880,785,806,651,630,652,0.442378880781,-0.00552536155376,0.0796607753348,0.999999868348,-5.04047150186e-05,-0.000505503312292,-7.2317986815e-05,1793244843007733760
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.420464704,682.420464704,658.579535296,633,880,785,806,651,630,652,0.443130692797,-0.00553487028373,0.0797176180762,0.999999905985,-6.59453445185e-05,-0.000423006999102,-6.88895913428e-05,1793244843024400384
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713,682.155313678,658.844686322,632.844686322,880,784.844686322,806,651,630,652,0.443862854419,-0.0055437797942,0.0797644696644,0.999999931496,-7.68182711142e-05,-0.000356044994599,-6.5865495997e-05,1793244843041067008
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713,682.729665541,658.270334459,632.270334459,880,784.270334459,806,651,630,652,0.444541999208,-0.0055510726053,0.079784365013,0.999999940358,-7.5097683177e-05,-0.000330994731811,-6.39322076418e-05,1793244843057733376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713,683,658,632,880,784,806.312965333,651,630.312965333,652,0.445169521179,-0.00555501347247,0.0797809886652,0.999999936125,-8.55079282468e-05,-0.000341101585262,-6.39353848487e-05,1793244843074400000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713,683,658,632,880,784,806.904221652,651,630.904221652,652,0.445751139735,-0.00555597376697,0.0797569189593,0.99999991901,-0.000106704995779,-0.000382470396087,-6.56604809592e-05,1793244843091066624
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713,683,657.515617026,631.515617026,880.484382974,783.515617026,806.515617026,651,630.515617026,652,0.446310732933,-0.00555972576999,0.0797311778884,0.999999906648,-0.000101793949686,-0.000414605877329,-6.66580160944e-05,1793244843107733248
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.937951943,745,713.062048057,683,657,631,880.937951943,783,806,651,630,652,0.446861658347,-0.00556365586884,0.0797055655045,0.999999894447,-9.41661077501e-05,-0.000444602843128,-6.75812534138e-05,1793244843124399616
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363191518,745,713.636808482,683,657,631,880.363191518,783,806,651,630,652,0.447376141875,-0.00556459838276,0.079683686164,0.99999988078,-0.000105791668079,-0.000471677408253,-6.90526959145e-05,1793244843141066496
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.804962786,745,713.195037214,683,656.195037214,631,880,783.804962786,806,651.804962786,630,652,0.448330416789,-0.00555417448082,0.0796403611453,0.999999846163,-9.70610495946e-05,-0.000541470362755,-7.11550616046e-05,1793244843174400256
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.612778143,745,713.387221857,683,656,631,880,783.612778143,806,651.612778143,630,652,0.448768735637,-0.00554739032723,0.0796190123692,0.99999982849,-8.87656390395e-05,-0.00057437684297,-7.23257351302e-05,1793244843191066880
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.033554232,745,713.966445768,683,656,631,880,783.033554232,806,651.033554232,630,652,0.449196359588,-0.00554123611181,0.0795977694949,0.999999811197,-8.21837670036e-05,-0.000604505206694,-7.36519063036e-05,1793244843207733504
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.247463049,745.752536951,714,680,658,633,879.505073902,785,805,651,630.752536951,652,0.40715734837,-0.00540093065597,0.0797884059227,0.999999908088,0.000230340300298,-0.000358446318161,4.7793778476e-05,1793244845800675840
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,633.97059999,878.97059999,785.97059999,805.97059999,651,630.97059999,652,0.405722636773,-0.00540402449342,0.0797826719627,0.999999914316,0.000218626080129,-0.000348738078607,4.41758566955e-05,1793244845850675456
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a7b604bdd039e9562e8e29b3e7b9c6b6cdceef2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63f9a9f4203326e1c5915e0282201f4b0a682bbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ae6ef511be06b5cadb18e46d70f278697859548909279cb0c95521ab210b62
+size 25968986
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d4956c037af38aea19f5f74632149881d4320c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+9,0.150000000,BASELINE,764.220562031,744.220562031,714,679.779437969,657.779437969,634,878,786,805,651.779437969,630.220562031,651.779437969,0.40096576823,-0.00540149233866,0.0798321603636,0.999999929231,0.000234953479395,-0.000290930329525,4.11586209324e-05,1793244846977648896
+10,0.166666667,BASELINE,764.810153328,744.810153328,714,679.189846672,657.189846672,634,878,786,805,651.189846672,630.810153328,651.189846672,0.400965161352,-0.00539977430069,0.0798316284154,0.999999928521,0.000237582658743,-0.000291270685469,4.09245502646e-05,1793244846994315520
+11,0.183333333,BASELINE,764.607126418,744.607126418,714,679.392873582,657,634,878,785.607126418,804.607126418,651,631,651.392873582,0.400964949715,-0.00539994285258,0.0798312721667,0.999999928678,0.00023654007565,-0.000291583414898,4.08785558877e-05,1793244847010981888
+12,0.200000000,BASELINE,764.027669308,744.027669308,714,679.972330692,657,634,878,785.027669308,804.027669308,651,631,651.972330692,0.400964925785,-0.00540100738359,0.0798309993611,0.999999929244,0.000233753699304,-0.00029188302397,4.09218826855e-05,1793244847027648512
+13,0.216666667,BASELINE,764.54970231,744.54970231,714,680,657.54970231,634,878.54970231,785.54970231,804.54970231,651.54970231,631,652,0.400965540856,-0.00540047191842,0.0798319079503,0.999999929272,0.000234274065849,-0.000291421681311,4.05645090062e-05,1793244847044315136
+14,0.233333333,BASELINE,765,745,714,679.87414528,657.87414528,633.87414528,878.87414528,785.87414528,805,651.87414528,631,652,0.400966081786,-0.00540008168256,0.079832600908,0.999999929345,0.000234740945647,-0.000290827111919,4.03298517868e-05,1793244847060982016
+15,0.250000000,BASELINE,765,745,714,679.301945764,657.301945764,633.301945764,878.301945764,785.301945764,805,651.301945764,631,652,0.400966246131,-0.0054004910453,0.0798323190291,0.999999929677,0.000234430066372,-0.000289895379645,4.06016695931e-05,1793244847077648640
+16,0.266666667,BASELINE,764.722130261,744.722130261,714,679.277869739,657,633.277869739,878.277869739,785.277869739,805,651,631,652,0.400966767486,-0.005401190674,0.0798326035092,0.999999930095,0.000233783770565,-0.000288951702609,4.07671798662e-05,1793244847094315264
+17,0.283333333,BASELINE,764.133805697,744.133805697,714,679.866194303,657,633.866194303,878.866194303,785.866194303,805,651,631,652,0.400967687716,-0.00540221460741,0.0798335207636,0.999999930607,0.000232762724789,-0.000287994680136,4.0813916172e-05,1793244847110982144
+18,0.300000000,BASELINE,764,744.450247572,714,680,657.450247572,634,878.549752428,785.549752428,805,651.450247572,630.549752428,652,0.40096731811,-0.00540090502047,0.0798338232659,0.999999930266,0.000234637595294,-0.000287648536991,4.08779485524e-05,1793244847127649024
+19,0.316666667,BASELINE,764,744.967455567,714,680,658,633.967455567,878,785,805,652,630.032544433,652,0.400966692263,-0.0053990747053,0.0798339375926,0.999999929733,0.000237112863381,-0.000287467949888,4.09223042462e-05,1793244847144315648
+20,0.333333333,BASELINE,764,744.393460262,714,680,658,633.393460262,878,785,805,652,630.606539738,652,0.40096812071,-0.00540001010871,0.0798339321514,0.999999930274,0.000235393366317,-0.000287049772899,4.05545799084e-05,1793244847160982272
+21,0.350000000,BASELINE,764.180677964,744.180677964,713.819322036,680,658,633.180677964,878,785.180677964,805,652,631,652,0.400968813244,-0.0054008273006,0.0798338104979,0.999999930561,0.000234274671072,-0.000286989308346,4.03866591073e-05,1793244847177648896
+22,0.366666667,BASELINE,764.755127601,744.755127601,713.244872399,680,658,633.755127601,878,785.755127601,805,652,631,652,0.400967901918,-0.0054013868608,0.0798334355701,0.999999930299,0.000234465370578,-0.000287708446525,4.06541925242e-05,1793244847194315520
+23,0.383333333,BASELINE,765,745,713.340657646,680,658,634.340657646,878,785.659342354,805,651.659342354,631,652,0.400967802655,-0.0054014483388,0.0798336804059,0.999999930284,0.000234828791745,-0.000287430748543,4.08818695577e-05,1793244847210982144
+24,0.400000000,BASELINE,765,745,713.93442038,680,658,634.93442038,878,785.06557962,805,651.06557962,631,652,0.400968306747,-0.00540113974696,0.0798343857197,0.999999930452,0.000235320543327,-0.000286412411735,4.10799337408e-05,1793244847227648768
+25,0.416666667,BASELINE,764.486090157,745,714,680,657.486090157,634.486090157,879.027819686,785.513909843,805,651.513909843,631,651.486090157,0.400967578023,-0.00540118496454,0.0798338428872,0.999999930139,0.00023556530619,-0.000287333741761,4.08683742491e-05,1793244847244315648
+26,0.433333333,BASELINE,764.091252682,745,714,680,657.182505365,634,879.908747318,786,804.908747318,651.908747318,631,651.091252682,0.400966887892,-0.0054013185176,0.0798333225856,0.999999929904,0.000235541561487,-0.000288200716723,4.06428570719e-05,1793244847260982528
+27,0.450000000,BASELINE,764.666609281,745,714,680,658.333218561,634,879.333390719,786,804.333390719,651.333390719,631,651.666609281,0.400967214542,-0.00540168764984,0.0798337439469,0.999999930409,0.000234256047004,-0.000287501705321,4.06131056849e-05,1793244847277649152
+28,0.466666667,BASELINE,765,745,714,680,658.757770154,634,878.757770154,786,804.242229846,651.242229846,630.757770154,652,0.400967440896,-0.00540238498491,0.079834148804,0.999999931012,0.000232254566274,-0.00028704345455,4.04953530654e-05,1793244847294315520
+29,0.483333333,BASELINE,765,745,714,680,658.181785919,634,878.181785919,786,804.818214081,651.818214081,630.181785919,652,0.400967529061,-0.00540353453151,0.0798345309209,0.999999931747,0.000229266597451,-0.00028691693386,4.02563486772e-05,1793244847310982144
+30,0.500000000,BASELINE,765,745,714,680,658,634,878.405236891,786,804.594763109,652,630.405236891,652,0.400968185391,-0.00540325152593,0.0798345373665,0.999999931553,0.000230556274407,-0.000286534144092,4.04361549052e-05,1793244847327648768
+31,0.516666667,BASELINE,765,745,714,680,658,634,878.997350163,786,804.002649837,652,630.997350163,652,0.400969103733,-0.00540230789396,0.0798343705698,0.999999930924,0.000233818602446,-0.000286033174961,4.08090970897e-05,1793244847344315392
+32,0.533333333,BASELINE,765,745,714,679.426110168,658,634,878.426110168,785.426110168,804.573889832,652,631,652,0.40096716081,-0.00540267175704,0.0798334029772,0.999999930805,0.000232230040338,-0.000287780860186,4.05111708627e-05,1793244847360982272
+33,0.550000000,BASELINE,765,745,714,679.149743438,657.850256562,634,878,785,805,652,631,652,0.400965843535,-0.00540257585269,0.0798328205046,0.999999930613,0.00023162608867,-0.00028896848323,4.02666172556e-05,1793244847377648896
+34,0.566666667,BASELINE,765,745,714,679.723851082,657.276148918,634,878,785,805,652,631,652,0.400966335759,-0.00540116033716,0.0798333396415,0.999999930216,0.000233874264131,-0.000288540275484,4.0181865151e-05,1793244847394315520
+35,0.583333333,BASELINE,764.69356662,745,714,679.69356662,657.30643338,633.69356662,878.30643338,785,804.69356662,651.69356662,631,652,0.400966421131,-0.00540125521082,0.0798335730735,0.999999930316,0.000233632732281,-0.000288371223127,4.03231336003e-05,1793244847410982144
+36,0.600000000,BASELINE,764.103129923,745,714,679.103129923,657.896870077,633.103129923,878.896870077,785,804.103129923,651.103129923,631,652,0.400966129432,-0.00540274991725,0.0798335417135,0.999999930873,0.000231083732971,-0.000288442356661,4.06738785234e-05,1793244847427648768
+37,0.616666667,BASELINE,764.478131706,745,714,679.478131706,657.521868294,633.478131706,878.521868294,785,804.478131706,651,631,652,0.400966635639,-0.00540397173847,0.0798337582658,0.999999931183,0.00023033501656,-0.000287948636748,4.08009503387e-05,1793244847444315648
+38,0.633333333,BASELINE,765,745,714,680,657.057097732,633.942902268,878.057097732,785.057097732,805,651.057097732,631,652,0.400967252434,-0.00540486106787,0.0798340000233,0.999999931405,0.000230072991301,-0.000287379576995,4.08502191612e-05,1793244847460982016
+39,0.650000000,BASELINE,765,745,714,680,657.632849779,633.367150221,878.632849779,785.632849779,805,651.632849779,631,652,0.400967339885,-0.00540325475904,0.0798339941514,0.999999931302,0.000230771040216,-0.000287212026421,4.06227417479e-05,1793244847477648896
+40,0.666666667,BASELINE,764.787651336,745,714,680,658,633.212348664,878.787651336,786,804.787651336,652,630.787651336,652,0.400966680486,-0.00540163369677,0.0798334314851,0.999999930835,0.000231997670028,-0.000287872739364,4.0452989381e-05,1793244847494315520
+41,0.683333333,BASELINE,764.201557851,745,714,680,658,633.798442149,878.201557851,786,804.201557851,652,630.201557851,652,0.400964706592,-0.00539998666777,0.0798318888317,0.999999929723,0.000234154629981,-0.000289991239679,4.03848361457e-05,1793244847510982144
+42,0.700000000,BASELINE,764,745,714,680,658,634,878,786,804.379965534,651.620034466,630,652,0.400966148271,-0.00540051069734,0.0798327741651,0.999999930142,0.000234101072764,-0.000288561125049,4.05491927208e-05,1793244847527649024
+43,0.716666667,BASELINE,764,745,714,680,658,634,878,786,804.95909344,651.04090656,630,652,0.400969380253,-0.00540217270694,0.0798349321498,0.999999931358,0.0002328888529,-0.000285270971719,4.08354214187e-05,1793244847544315648
+44,0.733333333,BASELINE,764.535133541,744.464866459,714,679.464866459,658,634,878,786,805,651.535133541,630,652,0.400965983582,-0.00540361923013,0.0798334006188,0.99999993104,0.000230465605624,-0.000288354579205,4.07193815506e-05,1793244847560982528
+45,0.750000000,BASELINE,764.888897339,744,714,679.111102661,658,633.888897339,878,786,805,652,630,652,0.400963389399,-0.00540462367928,0.0798321532458,0.999999930661,0.000229041652135,-0.000290805625943,4.06288329946e-05,1793244847577648896
+46,0.766666667,BASELINE,764.31224241,744,714,679.68775759,658,633.31224241,878,786,805,652,630,652,0.400966268937,-0.00540384433718,0.0798332715975,0.999999930574,0.000232190711745,-0.000288576172697,4.07732131294e-05,1793244847594315520
+47,0.783333333,BASELINE,764,744.270230767,714,680,658,633.270230767,878,786,805,651.729769233,630,652,0.400967494968,-0.00540268516497,0.0798337938914,0.999999930656,0.000233375539385,-0.000287357180564,4.06130347523e-05,1793244847610982144
+48,0.800000000,BASELINE,764,744.85957474,714,680,658,633.85957474,878,786,805,651.14042526,630,652,0.40096676839,-0.00540107745455,0.0798336123058,0.999999930949,0.000232240822672,-0.000287331433046,4.00932058466e-05,1793244847627648768
+49,0.816666667,BASELINE,764.439752511,745,713.560247489,680,658,634,878,786,805,651.439752511,630,652,0.400966852969,-0.00540092879513,0.0798335579488,0.999999930493,0.0002340690649,-0.000287412052027,4.02577568399e-05,1793244847644315648
+50,0.833333333,BASELINE,765,745,713.016989204,679.983010796,658,634,878.016989204,785.983010796,805,652,630,652,0.400967170788,-0.00540123402919,0.0798335449953,0.999999929826,0.000236706262865,-0.000287520917814,4.06202400373e-05,1793244847660982016
+51,0.850000000,BASELINE,765,745,713.591803264,679.408196736,658,634,878.591803264,785.408196736,805,652,630,652,0.400966815632,-0.00540145688314,0.0798335847555,0.99999993014,0.000235472957808,-0.000287464777579,4.04525474082e-05,1793244847677648896
+52,0.866666667,BASELINE,765,744.832935422,714,679.334129156,658,634,878.832935422,785,805,651.832935422,630,652,0.400967060608,-0.00540147836824,0.0798340588633,0.999999930605,0.000234258828363,-0.000286848242097,4.03826444867e-05,1793244847694315520
+53,0.883333333,BASELINE,765,744.256578415,714,680.48684317,658,634,878.256578415,785,805,651.256578415,630,652,0.40096877585,-0.00540100651869,0.0798355970813,0.99999993144,0.00023309167743,-0.000284858791215,4.05523171184e-05,1793244847710982144
+54,0.900000000,BASELINE,765,744.328483783,714,680.671516217,657.671516217,634,878,785.328483783,805.328483783,651,630.328483783,652,0.40096830767,-0.00540148051874,0.0798351137212,0.999999931183,0.000233233182534,-0.000285631357876,4.06291015586e-05,1793244847727649024
+55,0.916666667,BASELINE,765,744.920530672,714,680.079469328,657.079469328,634,878,785.920530672,805.920530672,651,630.920530672,652,0.400966087594,-0.00540271343317,0.0798330083224,0.999999930046,0.000234424704376,-0.000288620064251,4.06313559779e-05,1793244847744315648
+56,0.933333333,BASELINE,765,745,714,679.499510576,657.500489424,634,878,786,805.499510576,651,631,652,0.400965967994,-0.00540236709447,0.0798334683211,0.999999930036,0.00023462705756,-0.000288490293562,4.06401253272e-05,1793244847760982016
+57,0.950000000,BASELINE,764.921875157,745,714,679.078124843,658,633.921875157,878,786,805,651,630.921875157,652,0.400966244901,-0.00540187908844,0.0798342149869,0.999999930189,0.000234759814718,-0.000287851422189,4.06269634965e-05,1793244847777648896
+58,0.966666667,BASELINE,764.347095669,745,714,679.652904331,658,633.347095669,878,786,805,651,630.347095669,652,0.400966972225,-0.00540204700464,0.0798342555679,0.99999993027,0.000235425071491,-0.000287049703684,4.04679597508e-05,1793244847794315520
+59,0.983333333,BASELINE,764.233014548,745,714,679.766985452,658,633.233014548,878.233014548,785.766985452,804.766985452,651,630.233014548,652,0.400966978119,-0.00540211460306,0.0798339987444,0.999999930284,0.000235336253241,-0.000287079025998,4.04329324612e-05,1793244847810982144
+60,1.000000000,BASELINE,764.821251355,745,714,679.178748645,658,633.821251355,878.821251355,785.178748645,804.178748645,651,630.821251355,652,0.400965884221,-0.00540202927065,0.0798332885386,0.999999930195,0.00023409787496,-0.00028837523989,4.05869027762e-05,1793244847827649024
+61,1.016666667,BASELINE,765,745,714,679.803619098,658,634,878.598190451,785.401809549,804.401809549,651,630.598190451,652,0.400965982581,-0.00540287588439,0.0798334257279,0.999999930553,0.000232770907137,-0.000288188595291,4.07233613807e-05,1793244847844315648
+62,1.033333333,BASELINE,765,745,714,680.95803172,658,634,878.02098414,785.97901586,804.97901586,651,630.02098414,652,0.400966601382,-0.00540412930862,0.0798339328199,0.999999931105,0.000231405268533,-0.00028735465744,4.08521758139e-05,1793244847860982528
+63,1.050000000,BASELINE,764.441535908,745,714,680.441535908,658,634,878.558464092,786,805,651.558464092,630,652,0.400966934388,-0.00540236633325,0.0798337665549,0.999999930419,0.000234263492196,-0.000287458671223,4.06290768434e-05,1793244847877648896
+64,1.066666667,BASELINE,764,745,714,680,658,633.863141754,879,786,805,652,630.136858246,652,0.400967070227,-0.00540117611645,0.0798336166175,0.999999930026,0.000236022637028,-0.000287407069701,4.04785109901e-05,1793244847894315520
+65,1.083333333,BASELINE,764,745,714,680,658,633.288390883,879,786,805,652,630.711609117,652,0.400966609708,-0.0054021826086,0.0798336002023,0.999999930744,0.000233755303144,-0.000286744341156,4.06025017357e-05,1793244847910982144
+66,1.100000000,BASELINE,764,745,714,680,658,633.293468796,878.706531204,786,805,652,631,652,0.40096584375,-0.00540261031103,0.0798334095743,0.999999930675,0.00023350042399,-0.000287174372705,4.07184360335e-05,1793244847927648768
+67,1.116666667,BASELINE,764,745,714,680,658,633.882487664,878.117512336,786,805,652,631,652,0.400964770187,-0.00540245511891,0.079833043498,0.999999929815,0.000235272271992,-0.000288704914222,4.08262567398e-05,1793244847944315392
+68,1.133333333,BASELINE,764,745,713.533971158,680,658,633.533971158,878,785.533971158,804.533971158,651.533971158,630.533971158,652,0.400966223504,-0.00540164758816,0.0798335616962,0.999999929746,0.000236474041624,-0.000287986666754,4.06444207212e-05,1793244847960982016
+69,1.150000000,BASELINE,764.047321269,745,713.047321269,679.952678731,658,633.047321269,878,785.047321269,804.047321269,651,630,651.952678731,0.40096817087,-0.00540085488949,0.0798342817346,0.999999929943,0.000237204623396,-0.000286733012349,4.04113721958e-05,1793244847977648640
+70,1.166666667,BASELINE,764.618825911,745,713.618825911,679.381174089,658,633.618825911,878,785.618825911,804.618825911,651,630,651.381174089,0.400968614867,-0.00540202741367,0.0798347963454,0.999999930909,0.000234289627506,-0.000285756872356,4.04106983689e-05,1793244847994315520
+71,1.183333333,BASELINE,765,744.808126919,714,679.191873081,658,633.808126919,878.191873081,786,805,651,630,651,0.400967951954,-0.00540257552645,0.0798346520142,0.999999931366,0.000232315528182,-0.000285780393791,4.03331982021e-05,1793244848010982400
+72,1.200000000,BASELINE,765,744.231990432,714,679.768009568,658,633.231990432,878.768009568,786,805,651,630,651,0.40096507224,-0.00540187313336,0.0798331880227,0.999999930815,0.000232225757897,-0.00028780593276,4.01018382507e-05,1793244848027649024
+73,1.216666667,BASELINE,765,744.355221767,714,680,658,633.355221767,879,786,804.644778233,651.355221767,630.355221767,651.355221767,0.400966038253,-0.00540246553342,0.0798333605441,0.999999931149,0.000231672633582,-0.000287085228018,4.01444554475e-05,1793244848044315648
+74,1.233333333,BASELINE,765,744.949900119,714,680,658,633.949900119,879,786,804.050099881,651.949900119,630.949900119,651.949900119,0.400969596689,-0.00540393075937,0.0798346362465,0.999999932075,0.000230807160244,-0.000284513267969,4.03717618806e-05,1793244848060982016
+75,1.250000000,BASELINE,765,744.473163057,714,679.473163057,658,634,879,785.473163057,804.526836943,651.473163057,631,652,0.400970216984,-0.00540391596813,0.0798356182277,0.999999931978,0.000232163244326,-0.000283699004442,4.0722145232e-05,1793244848077648640
+76,1.266666667,BASELINE,764.897812756,744.102187244,714,679.102187244,658,634,879,785,805,651,631,652,0.400970197817,-0.00540350228863,0.0798362028505,0.999999931717,0.000233503871799,-0.000283490936312,4.09212436614e-05,1793244848094315520
+77,1.283333333,BASELINE,764.322250983,744.677749017,714,679.677749017,658,634,879,785,805,651,631,652,0.400968468542,-0.00540187153122,0.0798350719168,0.999999931138,0.000233826133174,-0.00028534194144,4.03670744665e-05,1793244848110982144
+78,1.300000000,BASELINE,764,744.740540588,714,679.740540588,658,633.740540588,879,785,805,651,631,651.740540588,0.400967689418,-0.00540161096629,0.079834626955,0.999999931043,0.000233325385479,-0.000286113006429,4.01455830402e-05,1793244848127649024
+79,1.316666667,BASELINE,764,744.151008228,714,679.151008228,658,633.151008228,879,785,805,651,631,651.151008228,0.400968119033,-0.00540309350059,0.0798350546568,0.999999931568,0.000231777641517,-0.000285510218534,4.03473098046e-05,1793244848144315904
+80,1.333333333,BASELINE,764.431366939,744,714,679,657.568633061,633.431366939,878.568633061,785,805,651,631,651.431366939,0.400967556128,-0.00540196439826,0.0798346744931,0.99999993101,0.000233320919691,-0.000286204596636,4.03470980527e-05,1793244848160982272
+81,1.350000000,BASELINE,764.988808974,744.011191026,714,679.011191026,657.011191026,633.988808974,878.011191026,785,805,651.011191026,631,652,0.400966670399,-0.00540000513731,0.0798340182993,0.999999930098,0.000235840533743,-0.000287333784666,4.02753472072e-05,1793244848177648640
+82,1.366666667,BASELINE,764.41334673,744.58665327,714,679.58665327,657.58665327,633.41334673,878.58665327,785,805,651.58665327,631,652,0.40096674047,-0.00540153370973,0.0798334711694,0.999999930404,0.000233919250176,-0.000287864138625,4.01027309032e-05,1793244848194315520
+83,1.383333333,BASELINE,764.165030454,745,714,680,658,633.165030454,878.834969546,785.165030454,805,652,631,652,0.400966751752,-0.00540257588628,0.0798332154776,0.999999930547,0.00023300900476,-0.000288107022709,4.00842721293e-05,1793244848210982400
+84,1.400000000,BASELINE,764.750839998,745,714,680,658,633.750839998,878.249160002,785.750839998,805,652,631,652,0.400966613141,-0.00540237789682,0.0798337028671,0.999999930283,0.000234676608682,-0.000287616943327,4.04588696537e-05,1793244848227649024
+85,1.416666667,BASELINE,765,745,714,680,658,634,878.333124743,786,805,652,630.666875257,652,0.400966805891,-0.00540203781311,0.0798342262527,0.999999930674,0.000234164096422,-0.000286687580429,4.03543301682e-05,1793244848244315648
+86,1.433333333,BASELINE,765,745,714,680,658,634,878.912800689,786,805,652,630.087199311,652,0.400967243887,-0.00540159256308,0.0798347762795,0.999999931547,0.000232038043549,-0.00028543309647,3.98951733315e-05,1793244848260982272
+87,1.450000000,BASELINE,764.511705012,745,714,680,658,634,878.511705012,786,805,651.511705012,630,652,0.400968228912,-0.00540184877775,0.0798353027075,0.999999931769,0.000231668650919,-0.000284931496274,4.007355291e-05,1793244848277648896
+88,1.466666667,BASELINE,764,745,714,680,658,634,878,786,805,651,630.063590159,652,0.400969226902,-0.00540218567996,0.0798357797621,0.999999931886,0.000231682365978,-0.000284471312614,4.03387945963e-05,1793244848294315776
+89,1.483333333,BASELINE,764,745,714,680,658,634,878,786,805,651,630.643278424,652,0.400969544002,-0.00540216940765,0.0798358900154,0.999999932087,0.000232280988917,-0.00028326533942,4.03928423973e-05,1793244848310982400
+90,1.500000000,BASELINE,764,745,714,680.225653452,658,634,878.225653452,785.774346548,804.774346548,651.225653452,630.774346548,652,0.40096967091,-0.00540269874173,0.0798359695133,0.99999993243,0.000231704338642,-0.000282536993837,4.03167140055e-05,1793244848327649024
+91,1.516666667,BASELINE,764,745,714,680.812326944,658,634,878.812326944,785.187673056,804.187673056,651.812326944,630.187673056,652,0.40096949353,-0.00540410098443,0.0798359998059,0.999999932998,0.000229247383903,-0.000282572798607,4.0032318402e-05,1793244848344315648
+92,1.533333333,BASELINE,764.395403091,745,714,680.604596909,658,634,879,785,804.395403091,651.604596909,630,652,0.400968770606,-0.00540283219695,0.0798355213498,0.999999932489,0.000230428295425,-0.000283442090132,3.98167183507e-05,1793244848360982272
+93,1.550000000,BASELINE,764.97678725,745,714,680.02321275,658,634,879,785,804.97678725,651.02321275,630,652,0.400967791081,-0.00540030706876,0.0798348035997,0.999999931467,0.000233320306785,-0.000284703418949,3.96334768229e-05,1793244848377648640
+94,1.566666667,BASELINE,764.449713766,745,714,680,658,633.449713766,879,785.550286234,805,651,630,652,0.400966936135,-0.00540136803239,0.0798342471419,0.999999930916,0.000233874206947,-0.000286142489249,3.99073676553e-05,1793244848394315520
+95,1.583333333,BASELINE,764.123862594,744.876137406,714,680,658,633,878.876137406,786,805,651,630.123862594,652,0.400966254257,-0.00540233661742,0.0798338602984,0.999999930563,0.000234152299474,-0.000287118289941,4.01246141822e-05,1793244848410982144
+96,1.600000000,BASELINE,764.698915482,744.301084518,714,680,658,633,878.301084518,786,805,651,630.698915482,652,0.400966183933,-0.00540242544789,0.0798340668694,0.999999930864,0.000233779912599,-0.000286379627996,4.00662742742e-05,1793244848427649024
+97,1.616666667,BASELINE,765,744.281443497,714,680,658,633.281443497,878.281443497,786,805,651,631,652,0.400966364301,-0.00540237580139,0.0798341659006,0.999999930881,0.000233929990983,-0.00028618863092,4.01345924391e-05,1793244848444315904
+98,1.633333333,BASELINE,765,744.872186458,714,680,658,633.872186458,878.872186458,786,805,651,631,652,0.400966820173,-0.0054021739721,0.0798341467481,0.999999930585,0.000234654245824,-0.000286599504068,4.03421047065e-05,1793244848460982272
+99,1.650000000,BASELINE,765,745,714,679.545479393,658,633.545479393,878.545479393,785.545479393,805,651.454520607,631,652,0.400968041524,-0.00540267684833,0.0798349047666,0.999999931263,0.000233413331265,-0.000285246641492,4.03263069903e-05,1793244848477648896
+100,1.666666667,BASELINE,765,744.965760085,713.965760085,679.034239915,658,633,878.034239915,785.034239915,805,652,631,652,0.400969270173,-0.0054032924114,0.0798357599476,0.999999932097,0.00023182930958,-0.000283620901547,4.02633857749e-05,1793244848494315520
+101,1.683333333,BASELINE,765,744.390671852,713.390671852,679.609328148,658,633,878.609328148,785.609328148,805,652,631,652,0.400967275681,-0.00540261460431,0.0798347605034,0.999999931226,0.000233396096193,-0.000285376817828,4.04300061711e-05,1793244848510982400
+102,1.700000000,BASELINE,764.815646936,744.184353064,713.184353064,679.815646936,658,633,879,786,805,652,630.815646936,652,0.400966129756,-0.00540232577694,0.0798340952091,0.999999930824,0.000233894624178,-0.000286380155786,4.04017073173e-05,1793244848527648768
+103,1.716666667,BASELINE,764.240756223,744.759243777,713.759243777,679.240756223,658,633,879,786,805,652,630.240756223,652,0.400966781452,-0.00540286097297,0.0798341377854,0.999999931422,0.000232130129026,-0.000285789214795,3.996048715e-05,1793244848544315392
+104,1.733333333,BASELINE,764.344649105,745,714,679.344649105,658,633.344649105,879,786,805,652,630.344649105,652,0.400967446022,-0.00540232191218,0.0798341862083,0.999999931405,0.000232676540575,-0.00028540757246,3.99163856015e-05,1793244848560982272
+105,1.750000000,BASELINE,764.937630663,745,714,679.937630663,658,633.937630663,879,786,805,652,630.937630663,652,0.400968119868,-0.00540100880958,0.0798342388439,0.999999930945,0.000234888045857,-0.000285176737498,4.01584226891e-05,1793244848577648896
+106,1.766666667,BASELINE,765,745,714,680,658,634,878.484024554,786,805,651.484024554,631,652,0.400968219754,-0.00540176347533,0.0798347491162,0.999999931677,0.000232445384321,-0.000284632209581,3.99902951896e-05,1793244848594315776
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,679,658,634,879,786,805,652,631,652,0.400966950755,-0.00540256520176,0.0798341736012,0.999999930507,0.000234376595073,-0.000287055167835,4.0655599212e-05,1793244848637529856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.595074483,744,713.404925517,679,658.595074483,634,879,786,804.404925517,651.404925517,631,652,0.40096574544,-0.00540213090355,0.0798333483748,0.999999930181,0.000234083092034,-0.000288452270286,4.04710045289e-05,1793244848654196736
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.815641604,744.184358396,713.184358396,679,658.815641604,634,878.815641604,786,804.184358396,651.184358396,631,652,0.400965457257,-0.00540172764409,0.0798333047382,0.999999930127,0.000234321641455,-0.000288454861199,4.04211945881e-05,1793244848670863616
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.2386887,744.7613113,713.7613113,679,658.2386887,634,878.2386887,786,804.7613113,651.7613113,631,652,0.400967122125,-0.00540139048213,0.0798349255107,0.999999930646,0.000235693206066,-0.00028548781507,4.06584111355e-05,1793244848687530240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.337166429,745,714,679.337166429,658,634,878,786,805,651.662833571,631,652,0.400968208573,-0.00540142731025,0.079835839401,0.999999930986,0.000235875213688,-0.000284142583411,4.06566487392e-05,1793244848704196864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.912246903,745,714,679.912246903,658,634,878,786,805,651.087753097,631,652,0.400968886872,-0.00540172803624,0.0798362544952,0.999999931205,0.000235217836608,-0.000283941749497,4.04862561149e-05,1793244848720863488
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.4990493,786,805,651.4990493,631,652,0.400967429402,-0.00540124890223,0.0798350832142,0.999999930723,0.000234796111052,-0.000286019034225,4.02289543786e-05,1793244848737530112
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.913467418,745,714,680,658,634,879,786,805,651.913467418,631,652,0.400966158954,-0.0054008369229,0.0798341278272,0.999999930309,0.000234480626704,-0.000287741396632,4.00835944145e-05,1793244848754196992
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.334127388,745,714,680,658,634,879,786,805,651.334127388,631,652,0.400968143857,-0.00540160714595,0.0798360288089,0.999999931029,0.000234528528815,-0.000285106228503,4.06648745527e-05,1793244848770863360
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.244553415,745,714,680,658,634,878.755446585,785.755446585,804.755446585,651,631,652,0.400973820052,-0.0054024835193,0.0798387626731,0.999999932575,0.000233679009313,-0.000280312094689,4.08641770898e-05,1793244848787529984
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.822335908,745,714,680,658,634,878.177664092,785.177664092,804.177664092,651,631,652,0.400984526012,-0.00540350453326,0.079842631425,0.999999935208,0.000231606660923,-0.000272576149182,4.05429959693e-05,1793244848804196864
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.60238395,745,714,680,658,634,878.39761605,785.39761605,804.39761605,651,631,652,0.401012213631,-0.00540370694091,0.0798540517328,0.999999940501,0.000231560741761,-0.000252439296229,4.06461185758e-05,1793244848820863488
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+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.464303568,786,805,652,631,652,0.401515572686,-0.00541093753212,0.0799359476481,0.999999968416,0.00022580013564,-0.000105434443729,3.26386930722e-05,1793244848937530112
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+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.37237891,714,679.37237891,658,634,879,786,805,652,631,652,0.401761421404,-0.00541341365174,0.0799441231668,0.999999971419,0.000219718361774,-9.10711705024e-05,2.43243716408e-05,1793244848970863104
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.20575139,714,679.20575139,658,634,879,785.79424861,805,651.79424861,631,652,0.401912640561,-0.00541584356839,0.0799504239111,0.999999973587,0.000214567243738,-7.99254292601e-05,1.99674004229e-05,1793244848987529984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.785609022,714,679.785609022,658,634,879,785.214390978,805,651.214390978,631,652,0.402087201472,-0.0054171872533,0.0799565757648,0.999999975297,0.000211361423992,-6.71141462243e-05,1.51027905452e-05,1793244849004196608
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.639587289,745,714,679.639587289,658,634,879,785.360412711,805,651,631,651.639587289,0.402272312601,-0.00541851445774,0.0799601616094,0.999999976899,0.000205963857226,-6.08205465585e-05,9.06409550568e-06,1793244849020863232
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.067748302,745,714,679.067748302,658,634,879,785.932251698,805,651,631,651.067748302,0.402463612745,-0.0054198319945,0.0799622421754,0.999999978439,0.000199280561612,-5.83503666611e-05,2.33665500101e-06,1793244849037529856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,745,714,679,658,634,879,786,805,651,631,651.522084882,0.402673432888,-0.00542180030184,0.0799580981174,0.999999979723,0.000190041216282,-6.64181967985e-05,-5.20049056436e-06,1793244849054196736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.111702925,745,714,679.111702925,658,634,878.888297075,786,805,651,630.888297075,651.888297075,0.402894250862,-0.00542398576793,0.0799532076799,0.999999980695,0.000180830566606,-7.57836171351e-05,-1.29242490261e-05,1793244849070863360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.69031334,745,714,679.69031334,658,634,878.30968666,786,805,651,630.30968666,651.30968666,0.403150634857,-0.00542671335601,0.0799486942332,0.999999981202,0.000173175762929,-8.46529389923e-05,-2.09731684444e-05,1793244849087529984
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.268043132,785.731956868,805,651.268043132,630.268043132,651.268043132,0.403435623952,-0.00542938126656,0.0799470567938,0.999999986675,0.000134896469553,-8.74646262746e-05,-2.83456382928e-05,1793244849104196608
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.844758786,785.155241214,805,651.844758786,630.844758786,651.844758786,0.403753554031,-0.00543198045361,0.0799487313008,0.999999994038,6.13506935237e-05,-8.33004751794e-05,-3.49391232472e-05,1793244849120863488
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.580404591,745,714,680,658,634,878.580404591,785.419595409,805,651.580404591,631,652,0.404094538422,-0.00543310925572,0.0799510961254,0.999999993672,7.51125125062e-05,-7.87866323889e-05,-2.83995653013e-05,1793244849137530112
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.006260081,745,714,680,658,634,878.006260081,785.993739919,805,651.006260081,631,652,0.404444014375,-0.00543369647256,0.0799537152138,0.999999989782,0.000121032240228,-7.41439880959e-05,-1.70227284396e-05,1793244849154196736
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.584670218,745,714,680,658.584670218,634,878.584670218,786,805,651,631,652,0.404839807197,-0.0054367423308,0.0799572527796,0.999999990754,0.000118578437674,-6.21031649415e-05,-2.39642900055e-05,1793244849170863360
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.829519436,634,879,786,805,651,631,652,0.405245914962,-0.00544119250781,0.0799584540851,0.999999991716,0.000112185319322,-5.57176130955e-05,-2.96466067606e-05,1793244849187530240
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.256243312,634,879,786,805,651,631,652,0.40567518752,-0.00544889664151,0.0799541115702,0.999999992738,9.77446582182e-05,-6.28864980719e-05,-3.18765877476e-05,1793244849204196864
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.679347201,805,651,631,652,0.40613220126,-0.00545932333633,0.0799450998439,0.999999992832,8.43853518579e-05,-7.9026733937e-05,-3.11438146415e-05,1793244849220863488
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,785.099525154,805,651,631,652,0.406611636998,-0.00547195055578,0.0799323142032,0.999999991778,7.19000543411e-05,-0.000102418110302,-2.80163807765e-05,1793244849237530112
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.48733983,633.51266017,879,785.48733983,805,651,631,651.51266017,0.407108837297,-0.00548990999707,0.0799297320165,0.999999992689,5.03065928121e-05,-0.000106214929179,-2.84589322205e-05,1793244849254196736
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.925473612,633,879,786,805,651,631,651.074526388,0.407614128361,-0.00550616430702,0.0799278485444,0.999999993173,2.99601787509e-05,-0.000108956350803,-2.97408463334e-05,1793244849270863360
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.345996133,633,879,786,805,651,631,651.654003867,0.408149297211,-0.00550337920775,0.0799163736975,0.999999990302,3.08508041113e-05,-0.000132057418477,-3.16976310955e-05,1793244849287529984
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.231859617,633.231859617,879,785.768140383,805,651,631,652,0.408718995194,-0.00550252430931,0.0799131211409,0.999999989195,3.16446441834e-05,-0.000139762996625,-3.27761541099e-05,1793244849304196608
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.807312091,633.807312091,879,785.192687909,805,651,631,652,0.40933986188,-0.00550452977641,0.0799220532002,0.999999991179,3.229505806e-05,-0.000124653991466,-3.25531805926e-05,1793244849320863488
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.382955345,659,634,879,785,805,651,630.617044655,652,0.410026735172,-0.00551142542807,0.0799541289039,0.99999999671,2.05074393252e-05,-7.14307760233e-05,-3.25081867518e-05,1793244849337530112
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.958694623,659,634,879,785,805,651,630.041305377,652,0.410746836897,-0.00552078285237,0.0799978553724,0.999999999467,2.45837805041e-06,9.79551981571e-07,-3.25527896962e-05,1793244849354196992
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.468962991,659,634,879,785,805,651.531037009,630,652,0.411408984489,-0.00551993081707,0.0799926629886,0.999999999319,5.50737252569e-06,-1.20410227303e-05,-3.44349815217e-05,1793244849370863360
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.892242386,680,659,634,879,785.107757614,804.892242386,652,630.107757614,652,0.412069625909,-0.0055195642975,0.0799784213868,0.999999998587,6.90958638827e-06,-3.78034077261e-05,-3.6742330073e-05,1793244849387529984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.294416354,680,659,634,879,785.705583646,804.294416354,652,630.705583646,652,0.412743787936,-0.00552499443649,0.0799402198729,0.99999999498,-6.59345601439e-06,-9.14852913315e-05,-4.03373320897e-05,1793244849404196608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.291640366,680.291640366,658.708359634,634,879,785.708359634,804.583280731,651.708359634,631,651.708359634,0.413462422617,-0.00553041990228,0.0799186664834,0.999999992074,-2.05633499955e-05,-0.00011630261603,-4.36207081083e-05,1793244849420863232
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.866276693,680.866276693,658.133723307,634,879,785.133723307,805.732553386,651.133723307,631,651.133723307,0.414224211835,-0.00553584083403,0.0799132677529,0.999999991905,-3.49862593944e-05,-0.000113110952018,-4.66016954277e-05,1793244849437529856
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.561927382,658,634,879,785,805.561927382,651.438072618,631,651.438072618,0.41503367414,-0.00553932870045,0.0799345631351,0.999999995224,-3.87076680249e-05,-7.70437256815e-05,-4.60279391262e-05,1793244849454196736
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.009410541,744.990589459,714,680.009410541,658.009410541,634,878.990589459,785.009410541,805,651.990589459,631,652,0.415856733024,-0.00554223718797,0.0799632510047,0.999999997723,-3.91810573941e-05,-3.23510740763e-05,-4.44137516695e-05,1793244849470863360
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.605921261,744.394078739,714,680.605921261,658.605921261,634,878.394078739,785.605921261,805,651.394078739,631,652,0.416626013202,-0.00554557586145,0.0799480495457,0.999999995638,-3.95053282055e-05,-7.15890601593e-05,-4.51501581631e-05,1793244849487529984
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.803254946,744.196745054,714,681,659,633.803254946,878.196745054,785.803254946,805,651,631,652,0.417434009358,-0.00554985563213,0.0799437927022,0.999999994636,-4.41565770036e-05,-8.15465648674e-05,-4.61423934224e-05,1793244849504196608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.223502054,744.776497946,714,681,659,633.223502054,878.776497946,785.223502054,805,651,631,652,0.418317374694,-0.00555596745683,0.0799608419786,0.999999996633,-5.72312471667e-05,-3.45031227767e-05,-4.76326560516e-05,1793244849520863488
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681.352372237,659,633.352372237,878.647627763,785.352372237,805,651,630.647627763,652,0.419200636623,-0.00556259746324,0.0799758817691,0.999999996407,-6.93276052409e-05,-1.36107714793e-06,-4.87564362293e-05,1793244849537530112
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681.925813179,659,633.925813179,878.074186821,785.925813179,805,651,630.074186821,652,0.420083833642,-0.00556955256244,0.0799896608625,0.999999995236,-8.08101966012e-05,2.30596107808e-05,-4.9650295306e-05,1793244849554196736
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.488154518,745,714,681.488154518,659,634,878.511845482,786,805,651,630,652,0.420952421182,-0.00556981825745,0.0799746780689,0.999999995524,-8.02098716615e-05,-2.93300398805e-06,-5.00991484701e-05,1793244849570863360
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633.901988096,879.098011904,785.901988096,805,651,630,652,0.421829139369,-0.00556380876937,0.0799624907551,0.999999995847,-7.17646526051e-05,-2.50893967046e-05,-5.02578354109e-05,1793244849587529984
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633.324321973,879.675678027,785.324321973,805,651,630,652,0.422756271353,-0.00553195410479,0.0799848997455,0.999999998182,-3.37145171619e-05,8.18867569742e-06,-4.93201051658e-05,1793244849604196864
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,713.746640667,681,659,633.253359333,879.493281334,785,805.253359333,651,630,652,0.423668219551,-0.00551138008726,0.0799979046171,0.999999998568,-6.50369869575e-06,2.28806798445e-05,-4.79300354135e-05,1793244849620863488
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,713.168939844,681,659,633.831060156,878.337879689,785,805.831060156,651,630,652,0.42456073014,-0.00550524714328,0.0799988706778,0.999999998826,6.83102186236e-06,1.37794736635e-05,-4.59608969097e-05,1793244849637530112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.407846469,745,713.407846469,681.407846469,659.407846469,633.592153531,878.407846469,785.407846469,805.592153531,651,630.407846469,652,0.425442895579,-0.00551193910189,0.0799640584123,0.999999997618,-6.50849853179e-06,-4.85201910924e-05,-4.86582044775e-05,1793244849654196736
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.984254784,745,713.984254784,681.984254784,659.984254784,633.015745216,878.984254784,785.984254784,805.015745216,651,630.984254784,652,0.426320785343,-0.00552393155849,0.079914459061,0.999999989285,-3.08724115095e-05,-0.000132806634405,-5.32841414188e-05,1793244849670863104
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.423525628,659.423525628,633.576474372,879,785.423525628,805.576474372,651,631,652,0.427273306085,-0.00552559612849,0.0799113804968,0.999999991397,-3.08599456155e-05,-0.000115165979868,-5.46903012432e-05,1793244849687529728
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681.164306997,659,633.835693003,879,785,805.835693003,651,631,652,0.428217794933,-0.00552728706991,0.0799143995373,0.999999993008,-3.2266330753e-05,-9.9477642141e-05,-5.52060621333e-05,1793244849704196352
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.74004266,659,633.25995734,879,785,805.25995734,651,631,652,0.429136923546,-0.00552977031347,0.0799294157373,0.999999993206,-3.89397247817e-05,-9.58455710641e-05,-5.37186606651e-05,1793244849720863744
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.314969545,633.314969545,879,785.314969545,805.314969545,651,630.685030455,652,0.430082178235,-0.00553396669351,0.0799605961829,0.999999995972,-4.54573217659e-05,-5.73283881783e-05,-5.19878584305e-05,1793244849737530624
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.889230593,633.889230593,879,785.889230593,805.889230593,651,630.110769407,652,0.431048940577,-0.00553957337401,0.0800050834748,0.999999997354,-5.18466618975e-05,9.90716843985e-06,-5.00566819495e-05,1793244849754196992
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.522471074,659.522471074,634,879,785.522471074,806,651,630.477528926,652,0.431987165182,-0.0055303666741,0.0800239176795,0.999999997128,-4.0638053822e-05,3.99502703512e-05,-4.99604434493e-05,1793244849770863616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.067684895,659.067684895,634,879,785.067684895,806,651,631,652,0.43290605623,-0.00551873785628,0.0800265673309,0.999999997309,-2.68348542216e-05,4.56631305343e-05,-5.07595384917e-05,1793244849787530496
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.646534106,659.646534106,634,879,785.646534106,806,651,631,652,0.433730444446,-0.00551555319838,0.0799532898862,0.999999996041,-2.51990663381e-05,-6.52412157051e-05,-5.50084672445e-05,1793244849804196864
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.224547033,786,806,651,630.775452967,651.775452967,0.434586870246,-0.00551826311472,0.0799115939265,0.999999990113,-3.10102077468e-05,-0.000124269059182,-5.80434367146e-05,1793244849820863488
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.801248513,786,806,651,630.198751487,651.198751487,0.435493540336,-0.00553021742142,0.079919426824,0.999999991877,-4.85002801285e-05,-0.000101939617134,-5.91745697315e-05,1793244849837530624
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.376696765,659.623303235,634,880,786,806,651,630.376696765,651,0.436371254351,-0.00553571530591,0.0799413031991,0.999999993872,-5.59821031109e-05,-7.65344444696e-05,-5.7138017148e-05,1793244849854196992
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.951485951,659.048514049,634,880,786,806,651,630.951485951,651,0.437233741267,-0.00553781796989,0.079970564576,0.999999995653,-5.82009162971e-05,-4.95118476936e-05,-5.34356829514e-05,1793244849870863360
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.460195831,659,633.460195831,880,786,806,651,631,651.539804169,0.438090615378,-0.00554190410942,0.0799752279049,0.999999995974,-5.85982683636e-05,-4.08947256468e-05,-5.42750760636e-05,1793244849887530240
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.874031075,745,714,682.125968925,659,633.125968925,880,785.874031075,806,651,630.874031075,652,0.438924520522,-0.00554431922145,0.0799674992016,0.999999995321,-5.99248093614e-05,-5.15031988697e-05,-5.58055451521e-05,1793244849904196608
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.299963093,745,714,682.700036907,659,633.700036907,880,785.299963093,806,651,630.299963093,652,0.439678560524,-0.00554013970511,0.0799237554687,0.999999988432,-6.51539686232e-05,-0.000124465839036,-5.83050084379e-05,1793244849920863488
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,745,714,682.722953172,659,633.722953172,880,785.277046828,806,651,630.277046828,652,0.440385827817,-0.00553488889635,0.0798500271404,0.999999967409,-6.34751043451e-05,-0.000239364617157,-6.21058601511e-05,1793244849937530112
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,745,714,682.142723816,659,633.142723816,880,785.857276184,806,651,630.857276184,652,0.441041909966,-0.00552846573319,0.0797434855702,0.9999999162,-5.42365346698e-05,-0.000400155644557,-6.73308679895e-05,1793244849954196736
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.016734701,714,680,657.016734701,634,878,786,805,651,630.016734701,652,0.400965242267,-0.00540131662171,0.0798311969648,0.999999929239,0.00023301598564,-0.000292557734293,4.04498482972e-05,1793244853691632384
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31c7283d17d9d1ef6d9c8dc15078afb7d17a7126
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
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+271,4.516666667,pose2_to_pose3_retreat,0.622381890026,-0.000122217950727,1.07005086675,0.592953521649,0.00855346725087,1.0697173605
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+384,6.400000000,pose2_to_pose3_retreat,0.575690722591,-0.000122216476357,1.07005086645,0.546262355916,0.00855346971932,1.06971735841
+385,6.416666667,pose2_to_pose3_retreat,0.575683576236,-0.000122150440872,1.07005077084,0.546255208938,0.00855353382127,1.06971726744
+386,6.433333333,pose2_to_pose3_retreat,0.575678460363,-0.000122148036026,1.0700508355,0.546250093565,0.00855353791729,1.06971733187
+387,6.450000000,pose2_to_pose3_retreat,0.575674887526,-0.000122234990197,1.0700510953,0.546246522267,0.00855345592569,1.06971758484
+388,6.466666667,pose2_to_pose3_retreat,0.575672742281,-0.0001221530556,1.07005102439,0.546244376409,0.00855353586149,1.06971751615
+389,6.483333333,pose2_to_pose3_retreat,0.575671652383,-0.000122104868796,1.07005097851,0.546243286117,0.00855358276692,1.06971747171
+390,6.500000000,pose2_to_pose3_retreat,0.575671276294,-0.000122086077955,1.07005100703,0.546242909615,0.00855360017301,1.06971750063
+391,6.516666667,pose2_to_pose3_retreat,0.575671229082,-0.00012208371908,1.07005101061,0.546242862351,0.00855360235805,1.06971750426
+392,6.533333333,pose2_to_pose3_retreat,0.575670861113,-0.000122065333914,1.07005103851,0.546242493978,0.00855361938836,1.06971753255
+393,6.550000000,pose2_to_pose3_retreat,0.575670663528,-0.000122055461838,1.07005105349,0.546242296176,0.00855362853293,1.06971754775
+394,6.566666667,pose2_to_pose3_retreat,0.575670598226,-0.000122052199098,1.07005105845,0.546242230803,0.00855363155523,1.06971755277
+395,6.583333333,pose2_to_pose3_retreat,0.575670553405,-0.000122049959641,1.07005106184,0.546242185932,0.00855363362966,1.06971755621
+396,6.600000000,pose2_to_pose3_retreat,0.575670455108,-0.000122045048366,1.0700510693,0.546242087527,0.008553638179,1.06971756377
+397,6.616666667,pose2_to_pose3_retreat,0.575670371367,-0.000122040864354,1.07005107565,0.546242003695,0.00855364205468,1.06971757021
+398,6.633333333,pose2_to_pose3_retreat,0.575670279537,-0.000122036276163,1.07005108261,0.546241911764,0.00855364630476,1.06971757727
+399,6.650000000,pose2_to_pose3_retreat,0.575670207173,-0.000122032660578,1.0700510881,0.54624183932,0.0085536496539,1.06971758284
+400,6.666666667,pose2_to_pose3_retreat,0.575670175459,-0.00012203842662,1.07005108233,0.546241807662,0.00855364407799,1.06971757715
+401,6.683333333,pose2_to_pose3_retreat,0.575670167086,-0.000122040183898,1.07005108055,0.546241799306,0.00855364238072,1.06971757538
+402,6.700000000,pose2_to_pose3_retreat,0.57567002019,-0.00012207101265,1.07005104927,0.546241652716,0.00855361260469,1.06971754448
+403,6.716666667,pose2_to_pose3_retreat,0.575669839739,-0.0001221088837,1.07005101085,0.546241472641,0.00855357602685,1.06971750651
+404,6.733333333,pose2_to_pose3_retreat,0.575669735268,-0.000122130808784,1.0700509886,0.546241368388,0.00855355485046,1.06971748452
+405,6.750000000,pose2_to_pose3_retreat,0.575669669668,-0.000122144576243,1.07005097464,0.546241302924,0.00855354155312,1.06971747072
+406,6.766666667,pose2_to_pose3_retreat,0.575669656587,-0.000122147321359,1.07005097185,0.546241289872,0.00855353890175,1.06971746797
+407,6.783333333,pose2_to_pose3_retreat,0.575669621736,-0.000122156053063,1.07005098603,0.546241255563,0.00855353188775,1.06971747894
+408,6.800000000,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868054,1.06971749639
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6d166e6533eeb0572ddc36ac40b2944c8dff3d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d701526e737057f1be966debe19d4ce433021836e13ae530299d03d0ec3bb90
+size 25557745
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ec23c05b6954a9edc6ff5cd78c5376dd9156096
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+44,0.733333333,BASELINE,765,744,714,679.478607517,658,634,879,786,805.478607517,652,631,652,0.400918948007,-0.015436615804,0.0599254761578,0.999999971203,-9.54341288258e-05,-0.000216034460168,-4.26164007215e-05,1793244856033350144
+45,0.750000000,BASELINE,765,744.097998671,714,679,658,634,879,786,805,652,631,652,0.400918459112,-0.0154368714742,0.0599246247188,0.999999971081,-9.50690219623e-05,-0.000216772330809,-4.25413500808e-05,1793244856050016768
+46,0.766666667,BASELINE,765,744.691073622,714,679,658,634,879,786,805,652,631,652,0.400917215463,-0.0154362917959,0.0599243787588,0.999999970968,-9.47845454483e-05,-0.000217443035553,-4.24111994222e-05,1793244856066683136
+47,0.783333333,BASELINE,765,745,714,679,658,634,878.723419079,786,805,652,631,652,0.40091663256,-0.015435628592,0.0599242761548,0.999999970992,-9.39321453932e-05,-0.000217682295377,-4.25131113427e-05,1793244856083350016
+48,0.800000000,BASELINE,765,745,714,679,658,634,878.146139261,786,805,652,631,652,0.400916768018,-0.0154348745788,0.0599243294076,0.999999971164,-9.24622985812e-05,-0.000217452488182,-4.28673217842e-05,1793244856100016896
+49,0.816666667,BASELINE,765,744.572417785,714,679.427582215,658,634,878,786,805,652,631,652,0.400917276687,-0.0154349004863,0.0599247719662,0.999999971212,-9.28317011382e-05,-0.000217088399049,-4.2800594886e-05,1793244856116683520
+50,0.833333333,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.400917911826,-0.0154351909872,0.059925346376,0.999999971217,-9.38243858366e-05,-0.000216678806746,-4.25911738531e-05,1793244856133350144
+51,0.850000000,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.400918358504,-0.0154368418596,0.0599252887233,0.99999997129,-9.39415876339e-05,-0.000216345333606,-4.23033010832e-05,1793244856150016768
+52,0.866666667,BASELINE,765,744,713.837506387,680,658,634.162493613,878.162493613,785.837506387,805,652,631,651.837506387,0.400918463525,-0.0154379508196,0.0599249785341,0.999999971196,-9.46563916235e-05,-0.000216500955326,-4.21379138282e-05,1793244856166683392
+53,0.883333333,BASELINE,765,744,713.246150084,680,658,634.753849916,878.753849916,785.246150084,805,652,631,651.246150084,0.400917666826,-0.0154376295325,0.0599240018355,0.999999970655,-9.69484224226e-05,-0.00021794742496,-4.22957975581e-05,1793244856183349760
+54,0.900000000,BASELINE,765,744,713,679.661518684,658,634.661518684,878.661518684,785.338481316,805,652,630.661518684,651.338481316,0.400918454969,-0.0154370021706,0.0599242563158,0.999999970854,-9.64731403856e-05,-0.000217243007404,-4.23207829542e-05,1793244856200016384
+55,0.916666667,BASELINE,765,744,713,679.081682517,658,634.081682517,878.081682517,785.918317483,805,652,630.081682517,651.918317483,0.400920373187,-0.0154361565612,0.0599253886909,0.999999971574,-9.40246197054e-05,-0.000215004894913,-4.22510048922e-05,1793244856216683264
+56,0.933333333,BASELINE,765,744,713.490945482,679.490945482,657.509054518,634,878,786,805,652,630.490945482,652,0.400920041937,-0.0154369760146,0.0599255674251,0.999999971425,-9.52784102078e-05,-0.000215149158053,-4.22326772606e-05,1793244856233349888
+57,0.950000000,BASELINE,765,744.062902493,714,680,657.062902493,634,878.062902493,786,805,652,630.937097507,652,0.400919633252,-0.0154379145585,0.0599257396427,0.99999997124,-9.6808211772e-05,-0.000215327145995,-4.22211838637e-05,1793244856250016512
+58,0.966666667,BASELINE,765,744.639027947,714,680,657.639027947,634,878.639027947,786,805,652,630.360972053,652,0.400921602203,-0.0154375971774,0.059927134509,0.999999971939,-9.56368951142e-05,-0.000212593058941,-4.21966187402e-05,1793244856266683648
+59,0.983333333,BASELINE,765,745,714,680,657.778549149,634,879,786,805,652,630.221450851,652,0.400921851339,-0.0154367507114,0.0599274832087,0.999999972168,-9.46358861082e-05,-0.000211938814062,-4.23020534394e-05,1793244856283350272
+60,1.000000000,BASELINE,765,745,714,680,657.18556065,634,879,786,805,652,630.81443935,652,0.400919215066,-0.0154350165766,0.0599260767098,0.999999971617,-9.39206094113e-05,-0.000214774009711,-4.26255944468e-05,1793244856300016896
+61,1.016666667,BASELINE,765,744.605710476,714,680,657.394289524,634,878.605710476,786,804.605710476,652,630.605710476,651.605710476,0.400918085604,-0.0154347916946,0.0599252786651,0.999999971295,-9.39445273294e-05,-0.000216229518343,-4.27670623579e-05,1793244856316683520
+62,1.033333333,BASELINE,765,744.03184411,714,680,657.96815589,634,878.03184411,786,804.03184411,652,630.03184411,651.03184411,0.400917642411,-0.0154352541929,0.0599247577376,0.999999971079,-9.43051071235e-05,-0.00021705665648,-4.28256061304e-05,1793244856333350144
+63,1.050000000,BASELINE,765,744,714,680,658,634,878.544159957,786.544159957,804.544159957,652,630.544159957,651.544159957,0.40091924278,-0.0154370124416,0.0599258068768,0.999999971374,-9.58926130995e-05,-0.000215053913975,-4.25359170338e-05,1793244856350016768
+64,1.066666667,BASELINE,765,744.122959095,714,680,658,634.122959095,878.877040905,786.877040905,805,652,631,652,0.400920345569,-0.0154382059535,0.0599265091241,0.999999971579,-9.67691602395e-05,-0.000213743485315,-4.23282103953e-05,1793244856366683392
+65,1.083333333,BASELINE,765,744.711874258,714,680,658,634.711874258,878.288125742,786.288125742,805,652,631,652,0.400919107791,-0.0154369709019,0.0599255472631,0.999999971354,-9.46783553873e-05,-0.000215686629213,-4.25087073513e-05,1793244856383349760
+66,1.100000000,BASELINE,765,745,714,679.702835327,658,635,878.297164673,786,805,652,631,652,0.400918430475,-0.0154357447654,0.0599247523226,0.999999971176,-9.35343603135e-05,-0.000216978958259,-4.26572650061e-05,1793244856400016640
+67,1.116666667,BASELINE,765,745,714,679.121017086,658,635,878.878982914,786,805,652,631,652,0.400918290024,-0.0154345271687,0.059924117275,0.999999971048,-9.32973129424e-05,-0.000217647872681,-4.27752280447e-05,1793244856416683264
+68,1.133333333,BASELINE,765,744.544680627,714,679.455319373,658,634.544680627,878.544680627,786,805,652,631,652,0.400918257714,-0.015434680267,0.0599242004538,0.999999971025,-9.39557774677e-05,-0.000217458398611,-4.28248836973e-05,1793244856433350144
+69,1.150000000,BASELINE,765.030192756,744.030192756,714,680,658,634,878.030192756,786,805,652,631,652,0.40091824707,-0.0154352032946,0.0599244556343,0.999999971033,-9.47372772648e-05,-0.000217078365123,-4.28560793684e-05,1793244856450016512
+70,1.166666667,BASELINE,765.604642927,744.604642927,714,680,658,634,878.604642927,786,805,652,631,652,0.400918115052,-0.0154359057337,0.0599244111966,0.999999971094,-9.34972044766e-05,-0.000217326962276,-4.28778856512e-05,1793244856466683136
+71,1.183333333,BASELINE,765.814768493,745,714,680,658,634,879,786,805,652,631,652,0.400918241875,-0.0154364352219,0.0599244320899,0.999999971128,-9.33825047276e-05,-0.0002172325655,-4.28336148241e-05,1793244856483349760
+72,1.200000000,BASELINE,765.22062895,745,714,680,658,634,879,786,805,652,631,652,0.400918940102,-0.0154365829122,0.0599245972044,0.999999971096,-9.57521233481e-05,-0.000216380992107,-4.26434753974e-05,1793244856500016384
+73,1.216666667,BASELINE,765,745,714,680,658,634,878.636533711,786,805,652,630.636533711,652,0.400918869975,-0.0154366103131,0.0599242534066,0.999999970995,-9.60808352955e-05,-0.000216709205169,-4.26205150447e-05,1793244856516683008
+74,1.233333333,BASELINE,765,745,714,680,658,634,878.058371575,786,805,652,630.058371575,652,0.40091834599,-0.0154365666602,0.0599236089996,0.999999970852,-9.52040042548e-05,-0.000217734306161,-4.26963056846e-05,1793244856533349632
+75,1.250000000,BASELINE,765,745,714,680,658,634,878,786,805,652,630.514586708,652,0.40091871598,-0.015438067046,0.0599247256001,0.99999997081,-9.85488716551e-05,-0.000216452241093,-4.26254015168e-05,1793244856550016512
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.089797169,786,805.089797169,652,631,652,0.40091902666,-0.0154392471402,0.0599258053711,0.999999970809,-0.000101249894015,-0.00021522223941,-4.25337337187e-05,1793244856566683136
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.680841276,786,805.680841276,652,631,652,0.400918445894,-0.0154376714932,0.0599255756757,0.999999971057,-9.77106170448e-05,-0.000215729097074,-4.24181188576e-05,1793244856583350016
+78,1.300000000,BASELINE,765,744.733523902,714,680,658,634,878.733523902,786,805.733523902,652,631,652,0.400919281433,-0.0154368496786,0.059926115519,0.999999971414,-9.59288567889e-05,-0.000214887749191,-4.23344607507e-05,1793244856600016640
+79,1.316666667,BASELINE,765,744.15423893,714,680,658,634,878.15423893,786,805.15423893,652,631,652,0.400921779533,-0.015436912767,0.0599275587022,0.999999971907,-9.62101967276e-05,-0.000212463780314,-4.2288315796e-05,1793244856616683264
+80,1.333333333,BASELINE,765,744,714,680,658,634,878.423979173,786,805,652,630.576020827,652,0.40092058848,-0.0154368486182,0.059926427611,0.999999971577,-9.5899406455e-05,-0.000214156265715,-4.22702055787e-05,1793244856633349888
+81,1.350000000,BASELINE,765,744,714,680,658,634,878.998203773,786,805.001796227,652,630.001796227,652,0.400918074231,-0.0154367358369,0.0599243739611,0.999999970945,-9.53699096068e-05,-0.000217321626963,-4.2262364592e-05,1793244856650016768
+82,1.366666667,BASELINE,765,744,714,680,658,634,878.424827499,786,805.575172501,652,630.575172501,652,0.400920494818,-0.0154358398672,0.0599260062743,0.99999997186,-9.36195003874e-05,-0.000213840782382,-4.22851047777e-05,1793244856666683392
+83,1.383333333,BASELINE,765,744.153050877,714,680,658,634.153050877,878,786,805.846949123,651.846949123,630.846949123,652,0.40092163247,-0.0154351352864,0.0599266835776,0.999999972337,-9.22068674537e-05,-0.000212195069782,-4.23895172704e-05,1793244856683350016
+84,1.400000000,BASELINE,765,744.743804741,714,680,658,634.743804741,878,786,805.256195259,651.256195259,630.256195259,652,0.40091910112,-0.0154349780493,0.0599246296935,0.999999971593,-9.17602245858e-05,-0.000215797563786,-4.27275005482e-05,1793244856700016384
+85,1.416666667,BASELINE,765,745,714,680,658,634.672109491,878.655781018,786,805,651.327890509,630.327890509,651.672109491,0.400917623905,-0.0154354317996,0.059923774548,0.999999971225,-9.12027221346e-05,-0.000217748650444,-4.26418975668e-05,1793244856716683008
+86,1.433333333,BASELINE,765,745,714,680,658,634.093129991,879.813740018,786,805,651.906870009,630.906870009,651.093129991,0.400916953918,-0.015436353426,0.0599238373619,0.999999971151,-9.05603266745e-05,-0.000218435137293,-4.22319245593e-05,1793244856733349632
+87,1.450000000,BASELINE,765,744.517297367,714,680,658,634,879.517297367,786,805,652,631,651.482702633,0.400917676866,-0.0154372098503,0.0599244989228,0.999999971149,-9.30637143137e-05,-0.000217405515432,-4.21437343252e-05,1793244856750016256
+88,1.466666667,BASELINE,765,744,714,679.942191388,658,634,878.942191388,786,805,652,630.942191388,652,0.400918632916,-0.0154379323253,0.0599251815155,0.999999971171,-9.57834524079e-05,-0.000216126320034,-4.21053128369e-05,1793244856766683136
+89,1.483333333,BASELINE,765,744,714,679.368187602,658,634,878.368187602,786,805,652,630.368187602,652,0.400919286228,-0.0154375703176,0.0599250270773,0.99999997137,-9.50506584401e-05,-0.000215555925601,-4.19605233256e-05,1793244856783349760
+90,1.500000000,BASELINE,765,744.212627579,714,679,658,634,878.212627579,786,805,652,630.212627579,652,0.40091982892,-0.0154373736327,0.0599251236244,0.999999971556,-9.46076433258e-05,-0.000214890198958,-4.19554765582e-05,1793244856800016384
+91,1.516666667,BASELINE,765,744.805627704,714,679,658,634,878.805627704,786,805,652,630.805627704,652,0.400920173724,-0.0154374726962,0.0599256691628,0.999999971718,-9.46830178638e-05,-0.000214053931213,-4.22004176181e-05,1793244856816683008
+92,1.533333333,BASELINE,765,744.612689037,714,679.387310963,658,634,879,786,805.387310963,652,631,652,0.400919374405,-0.0154365984509,0.0599250789651,0.99999997138,-9.41281968905e-05,-0.000215836858502,-4.23618775538e-05,1793244856833349632
+93,1.550000000,BASELINE,765,744.03652387,714,679.96347613,658,634,879,786,805.96347613,652,631,652,0.400918017209,-0.0154352496167,0.0599239349786,0.99999997079,-9.32660903475e-05,-0.000218896914544,-4.24826318176e-05,1793244856850016512
+94,1.566666667,BASELINE,765.538445738,744.538445738,714,680,658,634,879,786,805.461554262,652,631,652,0.40091999131,-0.0154360464998,0.0599253267041,0.999999971436,-9.446859027e-05,-0.000215423384663,-4.23889911475e-05,1793244856866683136
+95,1.583333333,BASELINE,765.883562315,744.883562315,714,680,658,634,878.883562315,786,805,652,631,652,0.400921538883,-0.0154366268669,0.059926362003,0.999999971971,-9.5269829791e-05,-0.000212573091123,-4.23614419154e-05,1793244856883350016
+96,1.600000000,BASELINE,765.292932177,744.292932177,714,680,658,634,878.292932177,786,805,652,631,652,0.400920431209,-0.0154357340408,0.0599252468265,0.999999971773,-9.3867861215e-05,-0.000214061804268,-4.26621445405e-05,1793244856900016384
+97,1.616666667,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.40091957976,-0.0154357405837,0.059924859544,0.999999971758,-9.28586870058e-05,-0.00021458491871,-4.25942017628e-05,1793244856916683008
+98,1.633333333,BASELINE,765,744,714,680,658,634,878,786,805,652,631,652,0.400918980437,-0.0154366320977,0.0599251885028,0.999999971926,-9.22360190402e-05,-0.000214157892535,-4.21635151732e-05,1793244856933349632
+99,1.650000000,BASELINE,765,744,714,680,658,634,878.447551874,786,805,652,631,652,0.400919172125,-0.0154360704665,0.0599245850916,0.999999971837,-9.15474333603e-05,-0.000214811022294,-4.24412691832e-05,1793244856950016512
+100,1.666666667,BASELINE,765,744.023341108,714,680,658,634.023341108,878.976658892,786,805,652,631,652,0.400919543269,-0.015435206811,0.059923748008,0.99999997167,-9.09499546013e-05,-0.00021575197884,-4.28833030667e-05,1793244856966683392
+101,1.683333333,BASELINE,765,744.59752536,714,680,658,634.59752536,878.40247464,786,805,652,631,652,0.400918797846,-0.0154370469107,0.0599237043903,0.999999971415,-9.29485462183e-05,-0.000216177630944,-4.24092489845e-05,1793244856983350016
+102,1.700000000,BASELINE,765.176140925,745,714,680,658,634.823859075,878.176140925,786,805,652,631,652,0.400918518742,-0.0154380348316,0.0599240094421,0.999999971297,-9.41129759028e-05,-0.000216276686338,-4.2116912153e-05,1793244857000016640
+103,1.716666667,BASELINE,765.765143077,745,714,680,658,634.234856923,878.765143077,786,805,652,631,652,0.400919332651,-0.0154370253087,0.0599251317491,0.999999971509,-9.33221917838e-05,-0.000215610223279,-4.22505071079e-05,1793244857016683264
+104,1.733333333,BASELINE,765.650389173,744.650389173,714,680,658,634,878.650389173,786,805,652,631,652,0.400920332838,-0.0154371978935,0.0599258357902,0.999999971662,-9.40452433975e-05,-0.00021461003199,-4.21106234763e-05,1793244857033349888
+105,1.750000000,BASELINE,765.068928426,744.068928426,714,680,658,634,878.068928426,786,805,652,631,652,0.400921456557,-0.0154381544116,0.0599262624517,0.999999971773,-9.57722189201e-05,-0.000213388523506,-4.178937823e-05,1793244857050016512
+106,1.766666667,BASELINE,765,744,714,680,658,634,878,786,805,652,630.496861873,652,0.40091987162,-0.0154378269916,0.0599249902169,0.999999971341,-9.49641284449e-05,-0.000215711223265,-4.20484035798e-05,1793244857066683136
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,713,680,658,634,879,786,805,652,631,652,0.40092079528,-0.0154377454859,0.0599253777059,0.999999971772,-9.44150119878e-05,-0.000213919568843,-4.21908920975e-05,1793244857110122240
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.405112621,713.594887379,680,658,634,879,786,805,652,631,651.405112621,0.400919926544,-0.0154376586999,0.059924970758,0.999999971418,-9.50571230487e-05,-0.000215306574022,-4.20910029277e-05,1793244857126788864
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.182837358,714,680,658,634,879,786,805.182837358,652,631,651.182837358,0.400919422957,-0.0154372521887,0.0599248338694,0.999999971283,-9.47260663782e-05,-0.000216095730897,-4.20039762172e-05,1793244857143455488
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.755978165,714,680,658,634,879,786,805.755978165,652,631,651.755978165,0.400919698856,-0.015436163159,0.0599252734773,0.999999971616,-9.23175858043e-05,-0.000215608659494,-4.19444070172e-05,1793244857160122624
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669912692,744.669912692,714,679.669912692,658,634,879,786,805.669912692,652,631,652,0.40092011588,-0.0154359708552,0.0599252864659,0.999999971702,-9.17432354467e-05,-0.000215417159265,-4.21227944195e-05,1793244857176789248
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095085622,744.095085622,714,679.095085622,658,634,879,786,805.095085622,652,631,652,0.40092063754,-0.0154364434196,0.059924983142,0.999999971609,-9.25287817944e-05,-0.000215444807204,-4.2477612246e-05,1793244857193455616
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.988623188,744.494311594,714,679.494311594,658,634,879.494311594,786,805,652,631,652,0.400926029445,-0.0154375087217,0.059926482057,0.999999972179,-9.50428622137e-05,-0.000211680168722,-4.2427946005e-05,1793244857210122496
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.914883087,745,714,680,658,634,879.914883087,786,805,652,631,652,0.400934200036,-0.0154386572435,0.0599288606191,0.999999973181,-9.71654374142e-05,-0.00020595021623,-4.22009539701e-05,1793244857226788864
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.332718742,745,714,680,658,634,879.332718742,786,805,652,631,652,0.400952960103,-0.0154396056906,0.0599342900147,0.99999997598,-9.50011513063e-05,-0.000193132899838,-4.14066093606e-05,1793244857243455488
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.75657944,714,679.75657944,658,634,879,786,805,652,631,651.75657944,0.400977854449,-0.0154407939676,0.0599405244654,0.999999979122,-9.39518871148e-05,-0.000176812024253,-4.08262750537e-05,1793244857260122368
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.188476584,714,679.188476584,658,634,879,786,805,652,631,651.188476584,0.401010930898,-0.0154423021376,0.0599478327244,0.999999982584,-9.43898757551e-05,-0.000155817987921,-4.05313947406e-05,1793244857276788992
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679.386372806,658.386372806,634,879,786,805.386372806,652,631,651.386372806,0.401052118228,-0.0154442467821,0.0599523990063,0.999999985357,-9.46787729715e-05,-0.000136718921808,-4.03744377826e-05,1793244857293455872
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.964571762,658.964571762,634,879,786,805.964571762,652,631,651.964571762,0.401097332446,-0.0154464081273,0.0599556039536,0.999999987658,-9.48936493901e-05,-0.000118560667524,-4.02859569012e-05,1793244857310122752
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,713.439905855,680,658.439905855,634,879,786,805.439905855,652,631,652,0.401153795436,-0.015447752842,0.0599579474789,0.999999988486,-9.58528437628e-05,-0.000110374971526,-4.0715824717e-05,1793244857326789376
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.150829182,713.150829182,680,658,634,879,786,805,652,631,652,0.401215291407,-0.0154495402117,0.0599601114259,0.999999989099,-9.67931614678e-05,-0.000103609349582,-4.12108576565e-05,1793244857343456256
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.724955417,713.724955417,680,658,634,879,786,805,652,631,652,0.401288851665,-0.0154527194732,0.0599619291937,0.999999989468,-9.75441538157e-05,-9.9002280072e-05,-4.17938200586e-05,1793244857360122624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.700715073,714,680,658,634,879,786,805.299284927,652,631,652,0.40137613102,-0.0154573592543,0.0599655674875,0.99999999014,-9.90906405379e-05,-9.01150356802e-05,-4.21927918497e-05,1793244857376789248
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.12619866,714,680,658,634,879,786,805.87380134,652,631,652,0.401476026866,-0.0154633421734,0.059970879992,0.999999990975,-0.000101368687932,-7.72916130535e-05,-4.24225602606e-05,1793244857393455616
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.459883378,714,680,658,634,879,786,805.540116622,652,631,652,0.401588711261,-0.0154686790145,0.0599696476197,0.999999990656,-0.000105129935972,-7.56979155514e-05,-4.36525326563e-05,1793244857410122496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.951594436,714,679.951594436,658,634.048405564,879,786,805,652,631,652,0.401707966717,-0.0154741648251,0.059967038273,0.99999999009,-0.000109368553364,-7.63479226124e-05,-4.50568973165e-05,1793244857426789120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.372020933,714,679.372020933,658,634.627979067,879,786,805,652,631,652,0.401859825619,-0.0154832809985,0.059969535539,0.999999990207,-0.000114264005572,-6.69311145843e-05,-4.52853768374e-05,1793244857443455744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.206467175,744,714,679.206467175,658,634.793532825,879,786,805,651.793532825,631,652,0.40202328599,-0.0154917377532,0.0599715468215,0.999999990162,-0.000118986454746,-5.85082752377e-05,-4.57795191394e-05,1793244857460122624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.783009736,744,714,679.783009736,658,634.216990264,879,786,805,651.216990264,631,652,0.40220754102,-0.0154990125535,0.0599726870182,0.999999989948,-0.000123398809731,-5.18670438185e-05,-4.67498400527e-05,1793244857476789248
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.644524655,744,714,680,658,634,879,786,805,651.355475345,631,652,0.4024099988,-0.015508379334,0.0599721438887,0.999999989497,-0.000128507527609,-4.745355178e-05,-4.73332400958e-05,1793244857493455616
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.074519437,744,714,680,658,634,879,786,805,651.925480563,631,652,0.402623441984,-0.0155190086281,0.0599705848695,0.999999988895,-0.000134036501899,-4.43845029642e-05,-4.76831329405e-05,1793244857510121984
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,879,786,805,652,631,652,0.402881826129,-0.0155289570499,0.0599722710286,0.999999984657,-0.000164516730241,-3.54345839136e-05,-4.86227758933e-05,1793244857526788608
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.114734761,878.885265239,786,805,652,630.885265239,652,0.403151228176,-0.0155389823966,0.0599733392766,0.99999997991,-0.000192234494896,-2.78877674204e-05,-4.94870622309e-05,1793244857543455488
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.691859959,878.308140041,786,805,652,630.308140041,652,0.403437794137,-0.0155497304438,0.059969950355,0.999999979569,-0.000193696086172,-2.95600261575e-05,-4.96902017311e-05,1793244857560122624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.26749925,713.73250075,680,658,634.73250075,878.26749925,786,805,652,630.26749925,652,0.403735891917,-0.0155561968227,0.0599620835861,0.999999979857,-0.000190117972086,-4.009481896e-05,-5.03307789401e-05,1793244857576789504
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.841436303,713.158563697,680,658,634.158563697,878.841436303,786,805,652,630.841436303,652,0.404047200131,-0.0155577582712,0.0599490871517,0.99999998049,-0.000180766547273,-6.07822213496e-05,-5.14724694896e-05,1793244857593456384
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.582633065,744.582633065,713.417366935,680,658,634,879,786,805.417366935,652,631,652,0.404385558696,-0.0155519554892,0.0599366021559,0.99999998098,-0.000168820765973,-8.20892732533e-05,-5.29157789912e-05,1793244857610123008
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.005941423,744.005941423,713.994058577,680,658,634,879,786,805.994058577,652,631,652,0.404734243393,-0.0155433415026,0.0599243123958,0.999999980996,-0.000155884621053,-0.000103632868248,-5.44742277791e-05,1793244857626789120
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.174547478,744,714,680,658,634,879.587273739,786,805.412726261,652,631,652,0.405163013656,-0.0155464877411,0.0599268980648,0.999999980145,-0.000163683999698,-0.000100171411129,-5.36947294522e-05,1793244857643455744
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.824860664,744.175139336,714,680,658,634,879.824860664,786,805,652,630.824860664,652,0.405611535068,-0.0155508251143,0.0599371154359,0.999999980844,-0.000169021906367,-8.35833561694e-05,-5.25054680445e-05,1793244857660122368
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.249609376,744.750390624,714,680,658,634,879.249609376,786,805,652,630.249609376,652,0.406103274046,-0.015557603998,0.0599644139352,0.999999983868,-0.000168243367443,-3.76017903107e-05,-5.04356888284e-05,1793244857676788992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.324116187,652,0.406617521721,-0.0155604128701,0.0599901294702,0.999999985648,-0.000162083012266,6.82097830213e-06,-4.8856355518e-05,1793244857693456128
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,652,630.89667232,652,0.407149022702,-0.0155601786689,0.060014631642,0.999999986091,-0.000151797413643,5.00489101694e-05,-4.76529561522e-05,1793244857710122752
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.516485654,714,679.516485654,658,634,879,786,805,652,630.516485654,652,0.407665114345,-0.0155595983276,0.0600165710917,0.999999984213,-0.000165843930179,4.30031416532e-05,-4.71306060172e-05,1793244857726789888
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,714,679.072677224,658,634,879,786,805,652,630,652,0.408186180808,-0.0155590553505,0.0600117161322,0.999999982339,-0.000180494837087,2.2923812175e-05,-4.70931091914e-05,1793244857743457024
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,679.656043188,658,634,879,786,805,652,630,652,0.408766048362,-0.0155593105258,0.0599940307447,0.999999985639,-0.000161742238604,-1.09485072247e-05,-4.94087565871e-05,1793244857760123136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.235466981,714,680.235466981,658.235466981,634,879,786,805,652,630.235466981,652,0.409367304814,-0.0155600704873,0.059985420277,0.999999986864,-0.000151165341045,-2.88085181499e-05,-5.0894817665e-05,1793244857776789248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.809227061,714,680.809227061,658.809227061,634,879,786,805,652,630.809227061,652,0.409999290454,-0.0155615556702,0.0599898476588,0.999999986807,-0.000152334394125,-2.36638007041e-05,-5.11890201708e-05,1793244857793455616
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.615024781,714,680.615024781,658.615024781,634,879,786,805,652,631,652,0.410670345846,-0.0155620384009,0.0599971829607,0.999999987201,-0.000151593033404,-4.46505163395e-06,-5.09717237853e-05,1793244857810122240
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.038286342,714,680.038286342,658.038286342,634,879,786,805,652,631,652,0.411360862581,-0.0155620217918,0.0600059667509,0.999999987254,-0.000149900060394,2.17342683071e-05,-5.0499640379e-05,1793244857826788864
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.552217162,744.552217162,714,680,658.552217162,634,879,786,805,652,631,652,0.412027961447,-0.0155605387987,0.0599922943862,0.999999988406,-0.000143272805142,-4.0525774701e-06,-5.14328961273e-05,1793244857843455488
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.859588219,745,714,680,658.859588219,634,879,786,805,652,631,652,0.412699719374,-0.0155586074642,0.0599711487923,0.999999988002,-0.000138250199044,-4.53910018056e-05,-5.31261340372e-05,1793244857860122112
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.281638367,745,714,680,658.281638367,634,879,786,805,652,631,652,0.413391183972,-0.0155556039558,0.0599316914116,0.99999998103,-0.000139321136153,-0.000123671270537,-5.68761773937e-05,1793244857876788992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.706311358,714,680,658.293688642,634,879,786,805,652,631,652,0.414145813299,-0.0155562023457,0.059927325018,0.999999979682,-0.000140567435707,-0.000132493350501,-5.76444596929e-05,1793244857893455616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.133477243,714,680,658.866522757,634,879,786,805,652,631,652,0.414960479582,-0.015560224271,0.0599563119362,0.999999985541,-0.000141980414314,-7.52967515515e-05,-5.5578635323e-05,1793244857910122240
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.453088063,714,680,659,634,879,786,805,652,631,652,0.41578953249,-0.0155668215907,0.0599981811309,0.999999988254,-0.00014427753159,-3.12064121497e-06,-5.16317750273e-05,1793244857926788864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.042969383,745,714,680.042969383,659,634,879,786,805.042969383,652,630.957030617,652,0.416621763078,-0.0155737230448,0.0600397130339,0.999999985926,-0.000146643269371,6.61931745109e-05,-4.75577738544e-05,1793244857943455488
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.622174473,745,714,680.622174473,659,634,879,786,805.622174473,652,630.377825527,652,0.417439106346,-0.0155746558922,0.0600281953671,0.999999987141,-0.000146513344012,4.29954990928e-05,-4.90286623733e-05,1793244857960122112
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680.799725366,659,634,879.200274634,786,806,652,630.200274634,652,0.418268917197,-0.0155747292459,0.0600123453729,0.999999987693,-0.000147550143526,1.53436876479e-05,-5.10725838523e-05,1793244857976788992
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+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.593940798,713.406059202,680.406059202,659,634,880,786.593940798,806,652,631,652,0.426282521668,-0.015584760943,0.0600401940866,0.999999984117,-0.000154736691755,7.07298958851e-05,-5.30988210041e-05,1793244858126789632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.022700002,713.977299998,680.977299998,659,634,880,786.022700002,806,652,631,652,0.427185266615,-0.0155844145543,0.0600280353065,0.999999983408,-0.000160980873416,6.45755831004e-05,-5.56671728728e-05,1793244858143455744
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+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733633609,744,713.266366391,681,659,634,879.733633609,786.266366391,806.266366391,651,631,652,0.429744519066,-0.015581218742,0.0599386717895,0.999999982744,-0.000154755917591,-8.1953127277e-05,-6.20223696613e-05,1793244858193456640
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.540501408,713.540501408,681,659.540501408,634,880.540501408,786,806.540501408,651,630,652,0.438315482507,-0.0155785989316,0.0599117277109,0.999999975674,-0.000154973046657,-0.00014205659828,-6.67516754183e-05,1793244858360122368
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682.076849429,657.076849429,631,881,782,807,652,629,652,0.452325094701,-0.0157184289341,0.0596458254109,0.999999789018,-0.000339919411391,-0.000548445348911,-7.50093404087e-05,1793244859093456128
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682.657549421,657.657549421,631,881,782,807,652,629,652,0.452327014194,-0.0157197830611,0.0596448315346,0.999999787184,-0.000342243775676,-0.00055038012002,-7.47179601716e-05,1793244859110122496
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.23641122,714,682.76358878,657.76358878,631,880.76358878,782.23641122,807.23641122,651.76358878,629,652,0.452329322328,-0.0157207467923,0.0596446838117,0.999999786535,-0.000343316677522,-0.000550947709967,-7.43049833317e-05,1793244859126789120
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.812630834,714,682.187369166,657.187369166,631,880.187369166,782.812630834,807.812630834,651.187369166,629,652,0.452332189078,-0.0157211493837,0.0596457523169,0.999999787596,-0.000342590775263,-0.00054955016619,-7.37172282299e-05,1793244859143456000
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.614097128,714,682,657.385902872,631,880,782.614097128,807.614097128,651.385902872,629,652,0.452333422043,-0.0157202573203,0.0596452760407,0.999999788042,-0.000340941562006,-0.00054978701767,-7.35438526648e-05,1793244859160122880
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.042245408,714,682,657.957754592,631,880,782.042245408,807.042245408,651.957754592,629,652,0.452333867764,-0.0157187414221,0.0596440554053,0.999999788188,-0.000338847447658,-0.000550811409107,-7.35701475603e-05,1793244859176789504
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,631,880,782,807,652,629,652,0.452333634939,-0.01571881998,0.0596433622164,0.999999787603,-0.000338942863901,-0.000551791489331,-7.37388402666e-05,1793244859193456384
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.861575616,630.861575616,880,782,807,651.861575616,629,652,0.452334210792,-0.0157188271985,0.0596433961792,0.999999787631,-0.000338963877526,-0.000551722565662,-7.37859957647e-05,1793244859210123008
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.283203802,630.283203802,880,782,807,651.283203802,629,652,0.452337528846,-0.0157182034538,0.0596456074935,0.999999789785,-0.000338193328144,-0.000548330878006,-7.34107745924e-05,1793244859226789376
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.294530644,630.294530644,880,782,807.294530644,651,629,652,0.452337850025,-0.0157175675257,0.0596453578061,0.999999789748,-0.000337722808189,-0.000548721207408,-7.31661541296e-05,1793244859243455744
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.871653623,630.871653623,880,782,807.871653623,651,629,652,0.452335295801,-0.0157169199078,0.0596427468698,0.999999787604,-0.000337540156378,-0.000552740255719,-7.30468406501e-05,1793244859260122624
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.455561802,657.544438198,631,880,782,807.544438198,651.455561802,629,652,0.452336146332,-0.0157172737374,0.0596429312858,0.999999787653,-0.000337657257277,-0.000552608385564,-7.28407223303e-05,1793244859276789248
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,782,807,651.958899648,629,652,0.452337745878,-0.0157179029658,0.0596437884934,0.999999788194,-0.000337951357796,-0.000551475228373,-7.26364029382e-05,1793244859293455872
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880,782,807,651.377438109,629,652,0.452336390993,-0.0157183874842,0.0596429805087,0.999999786954,-0.000339445455466,-0.000552785390572,-7.27821238306e-05,1793244859310122240
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682.798326901,657,631,880,782.201673099,807,651.201673099,629,652,0.452336083157,-0.0157182824597,0.059642566749,0.999999786585,-0.000339870559095,-0.000553167937385,-7.29655689601e-05,1793244859326789120
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.223563781,657,631,880,782.776436219,807,651.776436219,629,652,0.452337712336,-0.0157170867964,0.0596428822953,0.999999787829,-0.000338318051281,-0.000551834419627,-7.32188029448e-05,1793244859343456000
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657.35132962,631,880,782.64867038,807,652,629,652,0.452338476181,-0.015715904137,0.0596430006779,0.999999788313,-0.000337481520643,-0.000551437489352,-7.34605510705e-05,1793244859360122880
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+244,4.066666667,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628,651,0.452339357626,-0.0157161027915,0.0596433248013,0.999999788893,-0.000336918172234,-0.000550808589254,-7.28706791489e-05,1793244859407021056
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+247,4.116666667,HOLD_POSE2,765,745,714,682,657,630,880,782,807,652,628.727140471,652,0.452339724965,-0.0157156649843,0.0596435617584,0.999999788804,-0.000335510163871,-0.000551862700891,-7.26095580829e-05,1793244859457020928
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+259,4.316666667,HOLD_POSE2,765,745,714,682,657.69216557,630.30783443,880,782,807,652,629,652,0.452342040583,-0.0157126739707,0.0596430834428,0.999999790068,-0.000332141174167,-0.000551607523133,-7.26274647966e-05,1793244859657021696
+260,4.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631,880,782,807,651,629,652,0.452344885215,-0.0157157338583,0.0596457663121,0.999999790952,-0.000335339797416,-0.000548191857458,-7.16191288626e-05,1793244859694900736
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745.823242683,714,682,657,630.176757317,880.823242683,782,807,652,629,652,0.452345152826,-0.0157114953914,0.0596462131515,0.99999979232,-0.000331531071895,-0.000547936563065,-7.21975326686e-05,1793244859728234496
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745.243579081,714,682,657,630.756420919,880.243579081,782,807,652,629,652,0.452342827817,-0.015711395987,0.0596443779123,0.999999790997,-0.000331974469379,-0.000550077536268,-7.21984286284e-05,1793244859744900608
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880.510581105,782,807,651.510581105,629,652,0.452342792288,-0.0157126496263,0.0596430978902,0.999999790602,-0.000331300191598,-0.000551273112773,-7.16578055104e-05,1793244859794900992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880,782,807,651.079399235,629,652,0.452342557598,-0.0157122202213,0.0596425413194,0.999999790485,-0.000330729684774,-0.000551845548092,-7.15093983429e-05,1793244859811567872
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880,782,807,651.659333181,629,652,0.452342968645,-0.0157132957273,0.0596433150745,0.999999790807,-0.000332635261745,-0.000550113075214,-7.15277407747e-05,1793244859828234752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.762018237,682,657,631,880,782,807,652,629,652,0.45233789958,-0.0157133827307,0.0596414873248,0.999999789052,-0.000333163539252,-0.000552939289234,-7.18069683264e-05,1793244859844901376
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.544323776,682.544323776,658,630.455676224,880,782,806.455676224,651.455676224,629,652,0.452209934554,-0.0157042845704,0.0595918730071,0.999999744375,-0.000330278445296,-0.000629574827293,-7.61732643924e-05,1793244859911567360
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.295038962,745,713,682.704961038,657,631,880,782,807,651.295038962,629,652,0.451999969204,-0.0156940341783,0.0595504437106,0.999999710479,-0.000326057363672,-0.000683003617443,-7.89532039913e-05,1793244859961568000
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.30903804,745,714,683,657,631,880.69096196,783,807,651.69096196,629,652,0.450116619801,-0.015591862868,0.0595286988226,0.999999695638,-0.000268503608824,-0.000729226014881,-6.97122443134e-05,1793244860144900096
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.267226462,745,714,682.732773538,657,631,880.732773538,783,807,651.732773538,629.267226462,652,0.449827121376,-0.0155787690212,0.0595270703769,0.999999697299,-0.000259161730358,-0.000730494835719,-6.79281632718e-05,1793244860161566976
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.41840746,682,657.41840746,631.58159254,880.58159254,783,807,652,630,652,0.448447806649,-0.0155515576301,0.0595317116842,0.999999711316,-0.000251820766176,-0.000714362658928,-6.03408954381e-05,1793244860228235520
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.095796428,745,714,680,658,634,879.904203572,786.904203572,805.095796428,652,630.095796428,652,0.408324396822,-0.0153814799534,0.0598548850419,0.99999994568,0.000204778489553,-0.000256352739779,3.14409062964e-05,1793244861128233728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.492824609,744.507175391,714,680,658,634,879.507175391,786.507175391,805,652,630.492824609,652,0.407755184342,-0.0153801461549,0.059844798895,0.999999942831,0.000205019522412,-0.000267201565916,3.01322384742e-05,1793244861144900352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744,714,680.08336862,658,634,878.91663138,786,805.08336862,652,630.91663138,652,0.407194393462,-0.0153790516624,0.0598293520338,0.999999937813,0.000204591008381,-0.000285871721909,2.81879296482e-05,1793244861161566976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744,714,680.663843273,658,634,878.336156727,786,805.663843273,652,630.336156727,652,0.406673632913,-0.0153775740159,0.0598148797388,0.999999931878,0.00020622531136,-0.000305011501826,2.61203816746e-05,1793244861178233600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744,714,680.757760429,658,634,878,786,805.757760429,652,630,652,0.406186057735,-0.0153780612596,0.0598106532116,0.999999931306,0.000203095444464,-0.000309035748326,2.5224827658e-05,1793244861194900224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744,714,680.182223784,658,634,878,786,805.182223784,652,630,652,0.405744142304,-0.015381251993,0.0598205238227,0.999999938251,0.000193410563025,-0.000292262552733,2.59418186057e-05,1793244861211566848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.607652256,744,713.607652256,680,658.392347744,634,878.392347744,786,805,652,630,652,0.40531235224,-0.0153803024644,0.0598218438465,0.999999939646,0.000191166828294,-0.000288951077914,2.5907378884e-05,1793244861228233728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.033527821,744,713.033527821,680,658.966472179,634,878.966472179,786,805,652,630,652,0.404885253271,-0.0153774347317,0.0598192023409,0.999999938575,0.000192370613588,-0.000291876484885,2.55247976031e-05,1793244861244900352
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.876568109,713.123431891,680,658,634,878.123431891,786,806,652,630.123431891,652,0.403149925545,-0.0153777927831,0.0597754394493,0.999999918268,0.000194432412294,-0.00035395958097,1.9293228847e-05,1793244861328234240
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.63426258,744,714,680,658,634,878.63426258,786,806,652,630.63426258,652,0.401911647474,-0.0153754513565,0.0598271053508,0.999999936757,0.000217011474599,-0.000280772710482,2.36254382703e-05,1793244861428233984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.045256286,744,714,680,658,634,878.045256286,786,806,652,630.045256286,652,0.401745992887,-0.0153756029334,0.0598184533066,0.999999932004,0.000213931452926,-0.000299525943885,2.25741195647e-05,1793244861444900608
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.92200627,714,679.92200627,658,634.07799373,878.92200627,786,806,652,630.07799373,651.07799373,0.400980746798,-0.015385143215,0.0598315686231,0.99999993903,0.000205602927764,-0.000281352516838,2.25558986432e-05,1793244861678233600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.344621098,714,679.344621098,658,634.655378902,878.344621098,786,806,652,630.655378902,651.655378902,0.400975988102,-0.0153866049365,0.0598315942192,0.999999939494,0.000203214709521,-0.000281416876317,2.2789482702e-05,1793244861694900480
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.804271624,744,714,679.804271624,658.804271624,634.195728376,878.804271624,786.804271624,806,652,630.195728376,652,0.400972570923,-0.0153863194946,0.0598340124863,0.999999940277,0.000203678434574,-0.000278282899719,2.27992034504e-05,1793244861728233728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.611039635,744,714,680,658.611039635,634,879,786.611039635,805.611039635,652,630.388960365,652,0.400971506432,-0.0153871753283,0.0598345529006,0.999999940815,0.000202463408377,-0.000277243873397,2.26988522888e-05,1793244861744900352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.020391706,744,714,680,658.020391706,634,879,786.020391706,805.020391706,652,630.979608294,652,0.400970103156,-0.0153889028376,0.0598344855088,0.999999941441,0.000199920210395,-0.000276838440997,2.25943958723e-05,1793244861761566976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.558922894,714,680,658,634.558922894,879,786,805.558922894,652,630.441077106,652,0.40097127745,-0.0153881798779,0.0598359599022,0.999999941854,0.00020075620274,-0.000274737317863,2.25348410707e-05,1793244861778233600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.137338384,658,634.862661616,879,786,806,652,630.137338384,652,0.400972096105,-0.0153877045824,0.0598372237846,0.999999942136,0.000201653272667,-0.000273048958892,2.25240596718e-05,1793244861794900736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.714173414,658,634.285826586,879,786,806,652,630.714173414,652,0.400971481721,-0.0153883022498,0.0598376375808,0.999999942038,0.0002023591096,-0.00027287552834,2.26642199026e-05,1793244861811567360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.710299076,714,680.710299076,658,634,879,786,805.710299076,652,630.710299076,652,0.400971786628,-0.0153883612508,0.0598381933355,0.999999942193,0.000202669397289,-0.000272079839584,2.2642140119e-05,1793244861828233984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.136055736,714,680.136055736,658,634,879,786,805.136055736,652,630.136055736,652,0.400972994455,-0.0153878911773,0.059838888521,0.999999942594,0.000202591179094,-0.000270672972734,2.24607092356e-05,1793244861844900864
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879.450770256,786,805.450770256,652,630,652,0.4009720517,-0.0153878529477,0.0598383034919,0.999999942563,0.000201461389287,-0.000271649977067,2.22369508272e-05,1793244861861567488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.040672797,713.959327203,680,658.040672797,634,879.959327203,786,806,652,630,652,0.400970530912,-0.0153879012015,0.0598373551536,0.999999942367,0.00020028684325,-0.000273253552518,2.20074795027e-05,1793244861878233856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.619587816,713.380412184,680,658.619587816,634,879.380412184,786,806,652,630,652,0.400970197355,-0.0153873195085,0.059836859306,0.999999941827,0.00020284086731,-0.000273353640038,2.18763278146e-05,1793244861894900480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.803374652,713,680,658.803374652,634,879,786,806,652,630.196625348,652,0.400970264741,-0.015387172464,0.0598371342102,0.999999941663,0.000204181189056,-0.000272954311848,2.19201117914e-05,1793244861911567104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.229935186,713,680,658.229935186,634,879,786,806,652,630.770064814,652,0.400971100493,-0.0153878583827,0.0598388861881,0.999999942224,0.000203195563495,-0.000271597900075,2.22991436431e-05,1793244861928233728
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.352742417,744.352742417,713.352742417,680,658.352742417,634,878.647257583,786,806,652,631,652,0.400971422068,-0.0153884013696,0.0598392127059,0.999999942352,0.00020353388149,-0.000270869990554,2.23683743683e-05,1793244861944900352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.941603828,744.941603828,713.941603828,680,658.941603828,634,878.058396172,786,806,652,631,652,0.400971399462,-0.0153888486806,0.059838585048,0.999999942188,0.000204758421893,-0.000270562788414,2.22302301587e-05,1793244861961567232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,658.478257345,634,878,786,806,652,631,652,0.400971607282,-0.0153887508489,0.0598389052655,0.999999942428,0.000204066760838,-0.0002702050952,2.21388883487e-05,1793244861978233856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.899765784,714,680,658,634,878.100234216,786,805.899765784,652,630.899765784,652,0.400971986574,-0.0153887181498,0.0598394303635,0.999999942699,0.000203464236504,-0.000269655194452,2.21236718031e-05,1793244861994900736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744.324530239,714,680,658,634,878.675469761,786,805.324530239,652,630.324530239,652,0.400973058239,-0.0153892785004,0.0598404318825,0.999999942911,0.000204283772479,-0.000268220779153,2.24447903698e-05,1793244862011567104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.748343175,744,714,680,658,634,878.748343175,786,805,652,630,652,0.400973168643,-0.0153896124852,0.0598410312778,0.999999943204,0.000203814719182,-0.000267483952194,2.24271640243e-05,1793244862028233728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.170924316,744,714,680,658,634,878.170924316,786,805,652,630,652,0.400972034723,-0.0153896534468,0.0598411101365,0.999999943603,0.000201677626754,-0.00026765013172,2.19710428362e-05,1793244862044900608
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9475f3d923f18ec1ae6dc886105a36b036dce709
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+376,6.266666667,pose2_to_pose3_retreat,0.575704529912,-0.0101222290338,1.05005088606,0.546276164186,-0.00144653929359,1.04971738652
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+378,6.300000000,pose2_to_pose3_retreat,0.575683922023,-0.0101221372407,1.05005107971,0.546255554241,-0.00144645454928,1.04971757814
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+381,6.350000000,pose2_to_pose3_retreat,0.575673358679,-0.0101222637354,1.05005106161,0.546244993477,-0.00144657259484,1.04971755202
+382,6.366666667,pose2_to_pose3_retreat,0.575672016526,-0.0101223016853,1.05005113692,0.54624365181,-0.00144660896951,1.04971762549
+383,6.383333333,pose2_to_pose3_retreat,0.575671496905,-0.0101223009741,1.05005113719,0.546243132768,-0.00144660628195,1.04971762601
+384,6.400000000,pose2_to_pose3_retreat,0.575671399177,-0.0101223008404,1.05005113724,0.546243035149,-0.00144660577648,1.04971762611
+385,6.416666667,pose2_to_pose3_retreat,0.57567127903,-0.010122300676,1.0500511373,0.546242915136,-0.00144660515506,1.04971762623
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+388,6.466666667,pose2_to_pose3_retreat,0.575670843783,-0.0101223000803,1.05005113752,0.546242480375,-0.0014466029039,1.04971762667
+389,6.483333333,pose2_to_pose3_retreat,0.57567067113,-0.010122299844,1.05005113761,0.546242307915,-0.00144660201091,1.04971762684
+390,6.500000000,pose2_to_pose3_retreat,0.575670529455,-0.0101222996501,1.05005113768,0.546242166397,-0.00144660127814,1.04971762698
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+394,6.566666667,pose2_to_pose3_retreat,0.575670117689,-0.0101221538464,1.0500510739,0.546241752042,-0.00144646430237,1.04971756209
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+396,6.600000000,pose2_to_pose3_retreat,0.575669860748,-0.0101220548219,1.05005103055,0.546241493315,-0.00144637136216,1.04971751799
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+400,6.666666667,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d22701d333aeef5f2cd7483fbc59e82c468de96a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62aa74b95c2f16749a44add017427bd9052e831ff4bceb5f521e97dc7f0accc
+size 25682894
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccc3cf555e3389153978356cd6b454ff68d46b26
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+36,0.600000000,BASELINE,765.890168016,745,714,680,658.109831984,634,878.890168016,787,806,652,630.109831984,652,0.400972513431,-0.0153923766664,0.059843157899,0.999999944522,0.000202879295768,-0.000263299222301,2.16630064718e-05,1793244862792975360
+37,0.616666667,BASELINE,766,744.529161192,714,680,658,634,879,787,806,652,630.470838808,652,0.400973837878,-0.0153922173813,0.059843884654,0.999999944865,0.000202520419178,-0.000262250066699,2.19311427778e-05,1793244862809641984
+38,0.633333333,BASELINE,766,744.048221572,714,680,658,634,879,786.951778428,806,652,631,652,0.400975045554,-0.0153924209942,0.0598444027211,0.999999945334,0.000201078368107,-0.000261551906329,2.21235978373e-05,1793244862826308352
+39,0.650000000,BASELINE,766,744.624419845,714,680,658,634,879,786.375580155,806,652,631,652,0.400971832646,-0.0153927526846,0.0598423418001,0.99999994417,0.00020243857258,-0.000264949058163,2.19355985594e-05,1793244862842975232
+40,0.666666667,BASELINE,765.799703013,744.799703013,713.799703013,680,658.200296987,634,878.799703013,786,806,652,630.799703013,652,0.400970421912,-0.0153928815549,0.0598415128352,0.999999943768,0.000202578498701,-0.000266369295156,2.17705561113e-05,1793244862859642112
+41,0.683333333,BASELINE,765.224427098,744.224427098,713.224427098,680,658.775572902,634,878.224427098,786,806,652,630.224427098,652,0.400972385055,-0.0153926307229,0.0598429902333,0.999999944807,0.000200433923744,-0.000264088520685,2.16484914924e-05,1793244862876308736
+42,0.700000000,BASELINE,765,744,713.36119364,680,658.63880636,634,878.36119364,786,806,652,630,652,0.400973449723,-0.0153927463815,0.0598435159729,0.999999945123,0.000200144477449,-0.000263103737151,2.17280148367e-05,1793244862892975104
+43,0.716666667,BASELINE,765,744,713.953431618,680,658.046568382,634,878.953431618,786,806,652,630,652,0.400973939664,-0.0153930964727,0.0598434329661,0.99999994498,0.00020104169934,-0.000262947958796,2.19364877355e-05,1793244862909641728
+44,0.733333333,BASELINE,765,744.53203987,714,680,658,634,878.46796013,786.53203987,805.46796013,652,630.53203987,652,0.400973330203,-0.0153930829586,0.0598432239065,0.999999944918,0.000200898846509,-0.00026329789658,2.1879854763e-05,1793244862926308352
+45,0.750000000,BASELINE,765,744.890949575,714,679.890949575,658,634,878.109050425,786.890949575,805.109050425,652,631,652,0.400972602918,-0.0153929610997,0.0598429833945,0.999999944799,0.000200875239211,-0.000263774414078,2.17884183728e-05,1793244862942975232
+46,0.766666667,BASELINE,765,744.315796372,714,679.315796372,658,634,878.684203628,786.315796372,805.684203628,652,631,652,0.400971773059,-0.0153925087858,0.0598426544294,0.999999944408,0.000201740695732,-0.000264607489212,2.16449273254e-05,1793244862959641856
+47,0.783333333,BASELINE,765,744,714,679.265362655,658,634,879,786,806,652,631,652,0.400971585947,-0.0153921243782,0.0598422543029,0.999999943992,0.000202942210246,-0.000265272845182,2.14830947219e-05,1793244862976308736
+48,0.800000000,BASELINE,765,744,714,679.853834534,658,634,879,786,806,652,631,652,0.400972181452,-0.0153918226541,0.0598417675291,0.999999943545,0.000204552913713,-0.000265733984099,2.12989291682e-05,1793244862992975872
+49,0.816666667,BASELINE,765,744.435434991,714,680,658,634,879,786,806,652,631,652,0.400972357116,-0.0153918660472,0.0598424712003,0.99999994373,0.000204834080164,-0.000264793739223,2.16127401341e-05,1793244863009642752
+50,0.833333333,BASELINE,765,745,714,680,658.014645291,634,878.985354709,786,805.985354709,652,631,652,0.400972392132,-0.0153920471057,0.0598435232792,0.999999944126,0.000204599743685,-0.000263438961423,2.20668785793e-05,1793244863026309376
+51,0.850000000,BASELINE,765,745,714,680,658.589290891,634,878.410709109,786,805.410709109,652,631,652,0.400972354296,-0.0153931312344,0.0598428550817,0.999999944642,0.000201453942818,-0.000263941424134,2.15943367263e-05,1793244863042975488
+52,0.866666667,BASELINE,765,744.835501477,714,680,658.835501477,634,878.164498523,786.164498523,805.164498523,652,630.835501477,652,0.4009723251,-0.0153937751903,0.0598423080368,0.999999944912,0.000199697950583,-0.00026428205021,2.12730976674e-05,1793244863059641600
+53,0.883333333,BASELINE,765,744.258885826,714,680,658.258885826,634,878.741114174,786.741114174,805.741114174,652,630.258885826,652,0.40097231755,-0.0153933163841,0.0598420645143,0.999999944581,0.000201423837491,-0.00026421722794,2.13309165893e-05,1793244863076308224
+54,0.900000000,BASELINE,765.32555421,744,714,680,658,634,879,786.67444579,805.67444579,652,630.32555421,652,0.400972680441,-0.0153927525501,0.0598424737539,0.999999944736,0.000201187401569,-0.000263815479431,2.12781655143e-05,1793244863092974848
+55,0.916666667,BASELINE,765.916369516,744,714,680,658,634,879,786.083630484,805.083630484,652,630.916369516,652,0.400973345165,-0.0153921031396,0.0598434148631,0.999999945285,0.000199352067782,-0.000263139203918,2.11353221642e-05,1793244863109641728
+56,0.933333333,BASELINE,765.50343485,744.49656515,713.50343485,680.49656515,658,634,879,786,805.49656515,652,631,652,0.400973210926,-0.0153922044269,0.0598434485649,0.99999994536,0.000198828727704,-0.000263251405543,2.11298381666e-05,1793244863126308864
+57,0.950000000,BASELINE,765,745,713.074802488,680.925197512,658,634,879,786,805.925197512,652,630.925197512,652,0.400973042109,-0.0153923869268,0.0598434529588,0.999999945314,0.00019894068589,-0.00026333539485,2.11989527344e-05,1793244863142975488
+58,0.966666667,BASELINE,765,745,713.651648898,680.348351102,658,634,879,786,805.348351102,652,630.348351102,652,0.400973525425,-0.0153922837063,0.0598442648645,0.999999944976,0.000201864544421,-0.000262357438566,2.1616729035e-05,1793244863159642368
+59,0.983333333,BASELINE,765,744.774243383,714,680,658.225756617,634,878.774243383,786,805.225756617,652,630,652,0.400973479288,-0.015392435959,0.0598445315012,0.999999944717,0.000203336323336,-0.000262187978453,2.18487058408e-05,1793244863176308992
+60,1.000000000,BASELINE,765,744.204310831,714,680,658.795689169,634,878.204310831,786,805.795689169,652,630,652,0.400972625979,-0.015392977692,0.0598439668512,0.99999994459,0.000202594343176,-0.000263251106319,2.1797423173e-05,1793244863192975616
+61,1.016666667,BASELINE,765.38219142,744,714,680,658.61780858,634,878.38219142,786,805.61780858,652,630.38219142,652,0.400971916824,-0.0153934315618,0.0598434980772,0.999999944908,0.00020023665343,-0.000263872387877,2.14407909651e-05,1793244863209642496
+62,1.033333333,BASELINE,765.977952847,744,714,680,658.022047153,634,878.977952847,786,805.022047153,652,630.977952847,652,0.400971288222,-0.0153938363332,0.059843082879,0.999999945468,0.000196976099116,-0.000264246763986,2.09135282859e-05,1793244863226309120
+63,1.050000000,BASELINE,766,744.556402919,714,680,658,634,879,786,805.556402919,652,631,652,0.40097218762,-0.015394238432,0.0598432239419,0.999999945745,0.000196133779229,-0.000263819246108,2.10157904508e-05,1793244863242975744
+64,1.066666667,BASELINE,766,745,714,680,658,634,879,786,806,652,631,652,0.400972806796,-0.0153939176804,0.0598431892636,0.999999945668,0.000196666606722,-0.000263709783217,2.10418800739e-05,1793244863259642112
+65,1.083333333,BASELINE,766,745,714,680,658,634,879,786,806,652,631,652,0.400972305509,-0.0153912076737,0.0598425029548,0.999999944449,0.000201438181566,-0.000264753615478,2.07361855395e-05,1793244863276309248
+66,1.100000000,BASELINE,765.711678248,744.711678248,714,680,658,634.288321752,879,786,806,652,631,652,0.400972028311,-0.0153907677615,0.0598423778038,0.999999943922,0.000203234364609,-0.000265369372393,2.07693679778e-05,1793244863292976128
+67,1.116666667,BASELINE,765.121569827,744.121569827,714,680,658,634.878430173,879,786,806,652,631,652,0.400971985669,-0.0153927039596,0.0598428400172,0.999999944136,0.000201916201754,-0.000265537062354,2.11572533048e-05,1793244863309642752
+68,1.133333333,BASELINE,765,744,714,679.540186141,658,634.540186141,879.459813859,786,806,652,630.540186141,652,0.400971856557,-0.0153931614576,0.0598428944318,0.999999944475,0.00020068972041,-0.00026518029592,2.12888958796e-05,1793244863326309376
+69,1.150000000,BASELINE,765,744.038740132,714,679.038740132,658,634,879.922519736,786,806,652.038740132,630.038740132,652,0.400971773448,-0.0153932863731,0.0598428923225,0.99999994484,0.000199567643613,-0.000264645741613,2.13476650321e-05,1793244863342976000
+70,1.166666667,BASELINE,765,744.614979125,714,679.614979125,658,634,878.77004175,786,806,652.614979125,630.614979125,652,0.400972639909,-0.0153941201312,0.0598435740304,0.999999945135,0.000199564076868,-0.000263532493625,2.13178158583e-05,1793244863359642112
+71,1.183333333,BASELINE,765.19011426,745,714,679.80988574,658,634,878.19011426,786.19011426,806,652.80988574,631,652,0.400973023547,-0.0153944564434,0.0598438275544,0.999999945149,0.000199926499401,-0.00026319963577,2.13861568446e-05,1793244863376308224
+72,1.200000000,BASELINE,765.763026864,745,714,679.236973136,658,634,878.763026864,786.763026864,806,652.236973136,631,652,0.400972435013,-0.0153937911399,0.0598432189224,0.999999944596,0.000201025847663,-0.000264438106715,2.1652205407e-05,1793244863392974848
+73,1.216666667,BASELINE,765.652690974,745,714,679.347309026,658,634.347309026,878.652690974,786.652690974,805.652690974,652,631,652,0.400972288034,-0.0153931756929,0.0598429176873,0.999999944576,0.000201180034918,-0.000264401257296,2.15899924971e-05,1793244863409641728
+74,1.233333333,BASELINE,765.060388713,745,714,679.939611287,658,634.939611287,878.060388713,786.060388713,805.060388713,652,631,652,0.400972452528,-0.0153925954149,0.0598428332913,0.999999944933,0.000200667501586,-0.000263464791498,2.12962225585e-05,1793244863426308608
+75,1.250000000,BASELINE,765.51973313,745,714,679.48026687,658,635,878.51973313,786,805.51973313,652,630.48026687,652,0.400973730859,-0.0153931530717,0.0598437938285,0.999999945176,0.000201424686149,-0.000261929761713,2.1643792243e-05,1793244863442975488
+76,1.266666667,BASELINE,765.902202211,744.902202211,714,679.097797789,658,634.902202211,879,786,805.902202211,652,630.097797789,652,0.400974802643,-0.0153938170945,0.05984460427,0.999999945351,0.000202008502784,-0.000260786802826,2.19168447938e-05,1793244863459642368
+77,1.283333333,BASELINE,765.327426385,744.327426385,714,679.672573615,658,634.327426385,879,786,805.327426385,652,630.672573615,652,0.400974250313,-0.0153943697968,0.0598441040749,0.999999945268,0.000201043713472,-0.000261887478963,2.14713458377e-05,1793244863476308736
+78,1.300000000,BASELINE,765.253120579,744.253120579,714,680,658,634,878.746879421,786,805.253120579,652,630.746879421,652,0.400973589472,-0.0153943924418,0.0598438744119,0.999999945206,0.000200757109746,-0.000262366873792,2.11833333469e-05,1793244863492975104
+79,1.316666667,BASELINE,765.841306982,744.841306982,714,680,658,634,878.158693018,786,805.841306982,652,630.158693018,652,0.400972784991,-0.0153937134285,0.0598440028632,0.999999945174,0.000201368247455,-0.000262023853641,2.11037920189e-05,1793244863509641728
+80,1.333333333,BASELINE,766,744.575488971,714,679.575488971,658,634.424511029,878.424511029,786,806,652,630.424511029,652,0.400972772218,-0.0153933778859,0.0598439664619,0.999999945135,0.000201255163611,-0.000262258150779,2.11491303228e-05,1793244863526308864
+81,1.350000000,BASELINE,766,744,714,679.011628966,658,634.994185517,878.994185517,786,806,652,631,652,0.400973047033,-0.015393178727,0.0598438728186,0.999999945094,0.000200869393262,-0.000262700744032,2.12418418282e-05,1793244863542975488
+82,1.366666667,BASELINE,766,744,714,680.162535413,658,634.418732293,878.418732293,786,806,652,631,652,0.400972837985,-0.0153939078293,0.0598441386449,0.99999994528,0.000199984502022,-0.000262651903132,2.14552081877e-05,1793244863559642112
+83,1.383333333,BASELINE,765.843459147,744.156540853,714,680.843459147,658,634.156540853,878,786,806,652,631,652,0.400972867727,-0.0153941389804,0.059844414907,0.999999945327,0.000199951680698,-0.00026248744638,2.15584312126e-05,1793244863576308992
+84,1.400000000,BASELINE,765.268667012,744.731332988,714,680.268667012,658,634.731332988,878,786,806,652,631,652,0.400973535476,-0.0153930396882,0.0598447190523,0.999999945005,0.000202195449147,-0.000262014083178,2.13673695006e-05,1793244863592975872
+85,1.416666667,BASELINE,765.314025905,745,714,680,658,634.685974095,878.62805181,786.314025905,806,652,631,652,0.400974010155,-0.0153930458778,0.0598447770618,0.999999945229,0.000201974747559,-0.000261334673831,2.12635931156e-05,1793244863609642240
+86,1.433333333,BASELINE,765.903652813,745,714,680,658,634.096347187,879.807305626,786.903652813,806,652,631,652,0.400974315391,-0.0153940222801,0.0598446190531,0.999999945933,0.000199591133791,-0.000260474430629,2.1236421644e-05,1793244863626308352
+87,1.450000000,BASELINE,765.515492134,745,714,680,658.484507866,634,879.030984267,786.515492134,805.515492134,652,631,652,0.400973762694,-0.0153941486965,0.0598445624776,0.999999945948,0.000199081195663,-0.000260794883818,2.13763700956e-05,1793244863642975232
+88,1.466666667,BASELINE,765,745,714,680,658.936649213,634.063350787,878.063350787,786,805.063350787,652,631,652.063350787,0.400973232321,-0.0153941742548,0.0598445923372,0.999999945864,0.000199013749174,-0.000261155922525,2.15354668609e-05,1793244863659641600
+89,1.483333333,BASELINE,765,745,714,680,658.360226365,634.639773635,878.639773635,786,805.639773635,652,631,652.639773635,0.400974239885,-0.0153947275425,0.0598451617722,0.999999946059,0.000199566080398,-0.000259977945583,2.15852812166e-05,1793244863676308224
+90,1.500000000,BASELINE,765.219728555,744.780271445,714,680,658.219728555,634.780271445,879,786,806,652,631,652.780271445,0.400974093132,-0.015394337194,0.0598451103222,0.999999945716,0.000200903997608,-0.000260276453467,2.15026220801e-05,1793244863692975104
+91,1.516666667,BASELINE,765.805568554,744.194431446,714,680,658.805568554,634.194431446,879,786,806,652,631,652.194431446,0.400972023057,-0.0153923745602,0.0598440243542,0.999999944465,0.00020355085715,-0.000263035078634,2.11992357719e-05,1793244863709641728
+92,1.533333333,BASELINE,766,744.387073187,714,680,659,634,879,786,806,652,631,652,0.400971513009,-0.0153915790187,0.0598432455733,0.999999944117,0.000203953133332,-0.000264070591513,2.09005897361e-05,1793244863726308352
+93,1.550000000,BASELINE,766,744.966424287,714,680,659,634,879,786,806,652,631,652,0.400971777901,-0.0153913632281,0.059842619387,0.99999994422,0.000203240416988,-0.000264250151697,2.0604298395e-05,1793244863742974976
+94,1.566666667,BASELINE,765.455033865,744.455033865,714,679.455033865,658.455033865,634.544966135,879,786,806,652,631,652,0.400972300804,-0.0153920644637,0.0598427466161,0.999999944518,0.000202170530345,-0.000263932094476,2.07538998606e-05,1793244863759641344
+95,1.583333333,BASELINE,765,744.122601785,714,679.122601785,658,634.877398215,878.877398215,786.122601785,805.877398215,652,631,652,0.400973083208,-0.0153929877144,0.0598432590855,0.999999944979,0.000200947478452,-0.000263104910719,2.0940779695e-05,1793244863776307968
+96,1.600000000,BASELINE,765,744.697081082,714,679.697081082,658,634.302918918,878.302918918,786.697081082,805.302918918,652,631,652,0.400974763555,-0.0153945213238,0.0598450206153,0.999999945994,0.000199240886063,-0.000260514053704,2.11639543282e-05,1793244863792975104
+97,1.616666667,BASELINE,765,744.721673811,714,680,658.278326189,634,878.278326189,786.721673811,805.278326189,651.721673811,631,652,0.400975012205,-0.0153940335128,0.0598453397498,0.999999945991,0.000199774634555,-0.00026012258646,2.11011661873e-05,1793244863809641984
+98,1.633333333,BASELINE,765,744.132881647,714,680,658.867118353,634,878.867118353,786.132881647,805.867118353,651.132881647,631,652,0.400973663834,-0.0153912908573,0.059844049928,0.99999994485,0.000202807427957,-0.000262184484229,2.07193936354e-05,1793244863826308352
+99,1.650000000,BASELINE,765,744,714,680,658.551166614,634,879,786,806,651.448833386,631,652,0.400973330578,-0.0153914711965,0.0598437711038,0.999999944959,0.00020164524648,-0.000262659937198,2.07702309649e-05,1793244863842974976
+100,1.666666667,BASELINE,765,744,714,680,658.028258104,634,879.028258104,786,806,652.028258104,631,652,0.400973263512,-0.0153924722146,0.0598437554299,0.99999994539,0.000199455461336,-0.000262677509896,2.09506847794e-05,1793244863859641344
+101,1.683333333,BASELINE,765,744,714,680,658.603279471,634,879.603279471,786,806,652.603279471,631,652,0.400972622169,-0.0153928681972,0.0598431298915,0.999999945039,0.000201040294443,-0.000262782380547,2.11993656055e-05,1793244863876308224
+102,1.700000000,BASELINE,765,744,714,680,659,634,879.818879731,786.181120269,806,652.818879731,631,652,0.40097291552,-0.015393496702,0.0598433287964,0.999999945211,0.000201273477437,-0.000261929334278,2.14407066422e-05,1793244863892974848
+103,1.716666667,BASELINE,765,744,714,680,659,634,879.234765762,786.765234238,806,652.234765762,631,652,0.400975288572,-0.0153946425698,0.059845362093,0.999999946538,0.000198499230483,-0.000258944917016,2.16657165696e-05,1793244863909641728
+104,1.733333333,BASELINE,765,744,714,679.651557772,659,634,879,786.651557772,806,652,631,652,0.400975001969,-0.0153945229297,0.0598454186547,0.999999946351,0.000198739779856,-0.000259489272008,2.15835260672e-05,1793244863926308352
+105,1.750000000,BASELINE,765,744,714,679.068958551,659,634,879,786.068958551,806,652,631,652,0.400972928049,-0.0153935528545,0.0598441468291,0.999999945143,0.000201006305088,-0.000262405000292,2.12948935351e-05,1793244863942974976
+106,1.766666667,BASELINE,765,744,714,679.508943787,658.491056213,634,879,786.508943787,806,652,631,652,0.400972868326,-0.0153940252326,0.0598443346422,0.999999945196,0.000200745807183,-0.000262408618491,2.12438037886e-05,1793244863959641600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,806,652,631,652,0.400973428982,-0.0153936295831,0.0598443324695,0.99999994551,0.000201046766006,-0.000260970383908,2.12995682264e-05,1793244864002757632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.411568116,658,634,878.411568116,786.411568116,806,652,631,652,0.400972934247,-0.0153953558992,0.0598447988831,0.999999945952,0.00019830976855,-0.000261335943449,2.17267420776e-05,1793244864019424256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.825721877,714,679.174278123,658,634.174278123,878.174278123,786.174278123,806,652,631,652,0.400972545008,-0.0153959811271,0.0598447363207,0.999999946092,0.000196908603312,-0.000261855392065,2.18083369835e-05,1793244864036090880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.245892407,714,679.754107593,658,634.754107593,878.754107593,786.754107593,806,652,631,652,0.400972401264,-0.0153940440842,0.0598434428129,0.999999945539,0.000198615966287,-0.000262732946066,2.10857575625e-05,1793244864052757504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.332668462,634.667331538,879,786.667331538,806,652,631,652,0.400972889336,-0.0153938767897,0.05984378501,0.999999945676,0.000198412360541,-0.000262374232074,2.10012782564e-05,1793244864069424128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.910295169,634.089704831,879,786.089704831,806,652,631,652,0.400973842641,-0.0153950126379,0.059845331648,0.999999946318,0.000196801625375,-0.000261105200176,2.13866598391e-05,1793244864086090752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.493569782,744,714,680,659,634,879,786,806,652,631,652,0.400973452361,-0.0153948446945,0.0598450736926,0.999999945805,0.000199201459512,-0.000261239847432,2.14843456216e-05,1793244864102757632
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,714,680,658.922777506,634,879.077222494,786,806,652,631,652,0.400973354954,-0.0153944341697,0.0598448126144,0.999999945263,0.000201853163478,-0.000261276616281,2.15451326459e-05,1793244864119424256
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,714,680,658.343418184,634,879.656581816,786,806,652,631,652,0.400976768168,-0.0153940049292,0.0598466885918,0.999999945954,0.000201348071426,-0.000258998857869,2.17099224045e-05,1793244864136090880
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.235818319,714,680,658,634,879.764181681,786,806,652,631,652,0.400985918536,-0.0153940796977,0.0598505786037,0.999999947703,0.000200489082835,-0.000252813328924,2.19747511163e-05,1793244864152757760
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.814876003,714,680,658,634,879.185123997,786,806,652,631,652,0.40100341947,-0.0153948880635,0.0598574000921,0.9999999509,0.000199114989148,-0.000240939943989,2.23851889693e-05,1793244864169424384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.608743674,745,714,680,658,634.391256326,879,786.391256326,806,652,631,652,0.401043463472,-0.0153981801652,0.0598726473249,0.999999957582,0.000197831456602,-0.000212425452131,2.39410700676e-05,1793244864186091008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.033621493,745,714,680,658,634.966378507,879,786.966378507,806,652,631,652,0.401094101298,-0.0154026394665,0.0598918541282,0.999999964833,0.000196590481761,-0.00017609068576,2.60352374335e-05,1793244864202757632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.552988218,745,714,680,658,634.447011782,879,787,806,652,631,652,0.40115997535,-0.0154058532913,0.0599105407462,0.999999969383,0.000195676319239,-0.000148934220523,2.7640908608e-05,1793244864219424256
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.86157829,714,679.86157829,658.13842171,634,878.86157829,787,805.86157829,652,631,652,0.401230973433,-0.0154094814907,0.0599276122623,0.999999972928,0.000194741733427,-0.000124004896388,2.90254197399e-05,1793244864236090624
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.282164249,714,679.282164249,658.717835751,634,878.282164249,787,805.282164249,652,631,652,0.401315282126,-0.0154146761964,0.0599396411897,0.999999975355,0.000193677435691,-0.000104355382463,2.98019748176e-05,1793244864252757504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.703704781,744.296295219,714,679.296295219,658.703704781,634,878.296295219,786.703704781,805.296295219,652,631,652,0.401407776056,-0.0154202087245,0.0599478190006,0.999999977024,0.000192203107164,-9.00316233444e-05,3.00870008961e-05,1793244864269424384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.126151474,744.873848526,714,679.873848526,658.126151474,634,878.873848526,786.126151474,805.873848526,652,631,652,0.401508039814,-0.0154260619301,0.0599523411405,0.999999978177,0.000190339557217,-8.07633354815e-05,2.99054432803e-05,1793244864286091008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.551533,714,680,658.448467,634,879,786,806,652,630.551533,652,0.401616578236,-0.0154300780384,0.0599497780606,0.999999978074,0.00019000692605,-8.32711899086e-05,2.8563744338e-05,1793244864302757632
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,805.977093596,652,630.022906404,652,0.401728623079,-0.01543378636,0.0599453710131,0.999999977676,0.000189877534937,-8.87190975384e-05,2.68969864367e-05,1793244864319424512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786,805.386772896,652,630.613227104,652,0.40187024286,-0.0154425880879,0.0599443355585,0.999999979067,0.000184184586499,-8.54729244567e-05,2.52094480822e-05,1793244864336091136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.800170078,634,879,786,805,652,631,652,0.402027020639,-0.0154510878594,0.0599445039995,0.999999980493,0.000178637353541,-8.09231451705e-05,2.35270898642e-05,1793244864352757760
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.220631888,634,879,786,805,652,631,652,0.402212600978,-0.0154590138657,0.0599469600316,0.999999982003,0.000173367003557,-7.38963095181e-05,2.1854574913e-05,1793244864369424384
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.35649732,744,714,680,658.35649732,634,879,786,805.71299464,652.35649732,630.64350268,652,0.402423974178,-0.0154689644413,0.0599494999395,0.999999983853,0.000166568749864,-6.43110686885e-05,2.03321583398e-05,1793244864386091008
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.932145702,744,714,680,658.932145702,634,879,786,806.864291403,652.932145702,630.067854298,652,0.402651203147,-0.0154801595894,0.059952091409,0.999999985795,0.00015883124112,-5.31530882508e-05,1.89020121944e-05,1793244864402757376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.516955305,714,680,658.483044695,634,878.483044695,786,805.966089391,652.483044695,630.516955305,652,0.402896580052,-0.0154911109368,0.0599548243059,0.999999987491,0.000150803656226,-4.47057738349e-05,1.6640493832e-05,1793244864419425024
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.101826302,634,878.101826302,786,805.101826302,652,630.898173698,652,0.403148981626,-0.0155018860691,0.0599554593739,0.999999988919,0.000142476010303,-4.08028521455e-05,1.40530223657e-05,1793244864436092160
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,680,658.681243767,634,878.681243767,786,805.681243767,652,630.318756233,652,0.403422956766,-0.015511987511,0.0599461664549,0.999999989514,0.000132922801154,-5.65154039256e-05,1.04577999981e-05,1793244864452758528
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.740114669,745,714.259885331,680,658.740114669,634,879,786.259885331,806,652,630.259885331,652,0.403716155658,-0.0155199230525,0.0599365111513,0.99999999228,0.0001008554645,-7.2227252985e-05,7.20610230758e-06,1793244864469425152
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.162421971,745,714.837578029,680,658.162421971,634,879,786.837578029,806,652,630.837578029,652,0.404032862785,-0.0155252099671,0.0599264126972,0.999999995273,4.12561563115e-05,-8.79382415943e-05,4.37449267788e-06,1793244864486091776
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.584765148,714.584765148,680,658.415234852,634,879,786.584765148,806,652,631,652,0.40437815263,-0.0155174947358,0.0599141294878,0.999999993024,4.2492575554e-05,-0.000110210311767,-6.29226787327e-07,1793244864502758144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.00712237,714.00712237,680,658.99287763,634,879,786.00712237,806,652,631,652,0.404734621829,-0.0155046940653,0.0599009917706,0.99999998858,6.75232520511e-05,-0.000135048571842,-6.48250842869e-06,1793244864519424256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.579774168,744,714,680,658.420225832,634,879,786,806,652,631,652,0.405149591212,-0.0155073884374,0.059906987665,0.999999990129,6.05793759658e-05,-0.000126421795626,-9.44143828265e-06,1793244864536091136
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.83545118,744,714,680,658,634,879,786.16454882,806,652,631,652,0.405585470243,-0.0155125646162,0.0599185862164,0.999999992908,4.90335465123e-05,-0.000107885196398,-1.1841189417e-05,1793244864552757760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256313876,744,714,680,658,634,879,786.743686124,806,652,631,652,0.406072191983,-0.0155235064427,0.0599436990962,0.999999997414,2.68986077151e-05,-6.54329426319e-05,-1.29231019502e-05,1793244864569424384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.321079018,634.321079018,879,787,806,652,630.678920982,652,0.406588761094,-0.0155308594012,0.0599708736089,0.999999999638,1.02817998726e-05,-2.0254643283e-05,-1.43971554429e-05,1793244864586091264
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.897086956,634.897086956,879,787,806,652,630.102913044,652,0.407129028344,-0.0155353628872,0.0599996850106,0.9999999995,-1.95374877394e-06,2.7088074414e-05,-1.61825594139e-05,1793244864602758144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.455811744,714,680,658.544188256,634.544188256,879,786.544188256,806,652,630,652,0.407647527024,-0.0155358015932,0.0600000094744,0.99999999923,-2.84964760869e-05,1.83077728812e-05,-1.97957631611e-05,1793244864619425024
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.988109301,714,680,658,634,878.988109301,786,805.988109301,652,630,652,0.408162450198,-0.0155353370198,0.0599940000522,0.999999998066,-5.7381973973e-05,-2.81775001075e-06,-2.38275873474e-05,1793244864636091648
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.375786379,714,680,658,634,878.375786379,786,805.375786379,652,630,652,0.408735942443,-0.0155339099017,0.0599810686457,0.999999997982,-4.74113533796e-05,-3.08459632215e-05,-2.89206683866e-05,1793244864652758272
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.222594306,634,878.222594306,786,805,652,630.222594306,652,0.409331759261,-0.0155340710836,0.0599744404611,0.99999999731,-4.68646083473e-05,-4.58397050236e-05,-3.29038916419e-05,1793244864669424896
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.798824877,634,878.798824877,786,805,652,630.798824877,652,0.409963043164,-0.0155367556027,0.0599778262252,0.9999999967,-6.12896043384e-05,-4.0125539957e-05,-3.51238801111e-05,1793244864686091520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.374937933,744,714,680,658.625062067,634,879,786,805,651.625062067,630.625062067,652,0.410635137267,-0.0155401570409,0.0599865110222,0.9999999986,-4.03107837182e-05,-1.93571211998e-05,-2.82867062328e-05,1793244864702758144
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.950987938,744,714,680,658.049012062,634,879,786,805,651.049012062,630.049012062,652,0.411329121437,-0.0155439430255,0.0599980381547,0.999999999817,-3.417930844e-07,9.4862129504e-06,-1.65913823326e-05,1793244864719424768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460261404,744.539738596,714,680,658.539738596,634.539738596,879,786,805.539738596,651.539738596,630.539738596,652,0.412008802949,-0.015539444206,0.0599828135178,0.999999999578,-5.54748608668e-06,-1.82070517874e-05,-2.19667358983e-05,1793244864736091648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.872648966,634.872648966,879,786.127351034,806,652,631,651.872648966,0.412686640507,-0.0155345644542,0.0599605399571,0.99999999763,-1.47570945194e-05,-6.07569004373e-05,-2.88246431388e-05,1793244864752758272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.293269026,634.293269026,879,786.706730974,806,652,631,651.293269026,0.413362653929,-0.0155310672784,0.0599220767826,0.99999998967,-2.32670335617e-05,-0.000137377925741,-3.53100692309e-05,1793244864769424896
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.283872387,634,879,786.716127613,806,652,631,651,0.414106579839,-0.0155319842719,0.0599160181037,0.999999987653,-3.05224905447e-05,-0.000149379129617,-3.80517679981e-05,1793244864786091264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.858719339,634,879,786.141280661,806,652,631,651,0.414920117418,-0.0155374258718,0.0599431746409,0.999999994125,-3.64920807853e-05,-9.51438045179e-05,-3.69560763524e-05,1793244864802757632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,713.557283087,680,659,634,879,786,806,652,630.557283087,651.442716913,0.415767495547,-0.0155449566287,0.0599843177375,0.999999998299,-4.13385718888e-05,-2.46855268685e-05,-3.29205839257e-05,1793244864819424512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.029380492,745,713.029380492,680,659,634,879,786,806,652,630,652,0.416623873498,-0.0155527086814,0.060027236833,0.99999999749,-4.55423450548e-05,4.63163548762e-05,-2.83041122857e-05,1793244864836091136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.610118585,745,713.610118585,680,659,634,879,786,806,652,630,652,0.417442206767,-0.0155518382639,0.0600179557726,0.999999998134,-4.455264125e-05,2.83151513754e-05,-3.07620072878e-05,1793244864852757504
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.809747964,745,714,680,659,634,879.190252036,786,806,651.809747964,630.190252036,652,0.418268378117,-0.0155506197048,0.0600044465959,0.999999998379,-4.56469960521e-05,5.52710799741e-06,-3.35686295937e-05,1793244864869424128
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230849709,745,714,680,659,634,879.769150291,786,806,651.230849709,630.769150291,652,0.41911056102,-0.0155486899631,0.0599823002382,0.999999997646,-5.09986588104e-05,-2.70394746774e-05,-3.70876307078e-05,1793244864886091008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.345404293,745,714,680,659.345404293,634,879.654595707,786,805.654595707,651,631,652,0.41994016011,-0.0155495129351,0.059956329127,0.999999995621,-5.35959073844e-05,-6.56040301149e-05,-3.97678806059e-05,1793244864902757632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.919904423,745,714,680,659.919904423,634,879.080095577,786,805.080095577,651,631,652,0.420761412716,-0.0155521616957,0.0599278211776,0.999999991797,-5.4366239139e-05,-0.000108146851439,-4.18918129458e-05,1793244864919424256
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493549436,745,714,680,659.493549436,634,879,786.506450564,805.506450564,651,630.493549436,652,0.421599225896,-0.0155512196245,0.0598970188881,0.999999982868,-5.62469866432e-05,-0.000170303528112,-4.57898694503e-05,1793244864936091136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.093433523,745,714,680.093433523,659.093433523,634,879,786.906566477,806,651.093433523,630.093433523,652,0.422463723417,-0.0155507878924,0.0598804091579,0.999999975524,-5.90623498098e-05,-0.000207564721782,-4.87819310131e-05,1793244864952757760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.672542796,745,714,680.672542796,659.672542796,634,879,786.327457204,806,651.672542796,630.672542796,652,0.423452982355,-0.0155560328311,0.059939505713,0.999999991906,-6.58008338418e-05,-9.88999018704e-05,-4.55705384277e-05,1793244864969424384
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659.748371704,634,879.251628296,786.251628296,806,652,631,652,0.424425714978,-0.0155604363479,0.0599920241953,0.9999999966,-7.0338704012e-05,-8.46209744273e-06,-4.21965452003e-05,1793244864986091008
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659.169317058,634,879.830682942,786.830682942,806,652,631,652,0.425376943199,-0.0155637449819,0.0600359830986,0.999999994965,-7.20130703683e-05,5.82581771532e-05,-3.8610971061e-05,1793244865002757632
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680.594924338,659,634,879.594924338,787,806,651.594924338,631,652,0.426292844889,-0.0155669233039,0.0600389662602,0.99999999352,-8.01010271522e-05,7.06115164696e-05,-3.94748709921e-05,1793244865019424256
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680.022458114,659,634,879.022458114,787,806,651.022458114,631,652,0.427194148442,-0.0155700477765,0.0600250168975,0.999999993155,-9.0839290022e-05,6.04986494185e-05,-4.21774399318e-05,1793244865036090880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.43248036,745,713.43248036,680,659,634,879,787,806.56751964,651.56751964,630.43248036,651.43248036,0.428092946636,-0.0155702228289,0.0599997298576,0.999999995121,-8.57501888281e-05,2.1271681855e-05,-4.41927438704e-05,1793244865052757504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.150013867,744.849986133,713.150013867,680.150013867,659.150013867,634.150013867,879.300027734,787,806.849986133,652,630.150013867,651.150013867,0.428977163661,-0.0155686711643,0.0599708906964,0.999999995183,-8.22964183459e-05,-2.61792155162e-05,-4.66470905673e-05,1793244865069424384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.710096944,744.289903056,713.710096944,680.710096944,659.710096944,634.710096944,880.420193888,787,806.289903056,652,630.710096944,651.710096944,0.429821802036,-0.0155627286518,0.0599336071404,0.9999999908,-8.50794947681e-05,-9.28609428233e-05,-5.03782894185e-05,1793244865086091008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713111268,744.286888732,714,681,659.713111268,634.713111268,880.713111268,787,806,651.713111268,631,652,0.430714788796,-0.0155624866383,0.0599273837058,0.999999989913,-8.75998658862e-05,-9.90216114149e-05,-5.19185585708e-05,1793244865102757888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.118391077,744.881608923,714,681,659.118391077,634.118391077,880.118391077,787,806,651.118391077,631,652,0.431659653291,-0.0155683612576,0.0599544877676,0.999999993849,-8.9838354261e-05,-4.02432117472e-05,-5.11079611247e-05,1793244865119425280
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.469868608,745,714,681,659.469868608,634,880.469868608,786.530131392,806,651.469868608,631,652,0.432575196328,-0.0155709402846,0.059992664934,0.999999993942,-9.65934357725e-05,1.89607060062e-05,-4.9259917625e-05,1793244865136091904
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.944052944,745,714,681,660,634,880.944052944,786,806,652,631,652,0.433481358804,-0.0155726386865,0.0600277263516,0.999999991119,-0.00010344994849,6.9284303156e-05,-4.75320601418e-05,1793244865152758016
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.363372435,745,714,681,660,634,880.363372435,786,806,652,631,652,0.43436789256,-0.0155737601844,0.0600077515447,0.999999993085,-0.000100728859974,3.53264241315e-05,-4.93499026798e-05,1793244865169424896
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.215982165,786,806,651.784017835,631,652,0.43522863627,-0.0155741935504,0.0599838802748,0.999999993682,-9.95906283575e-05,-6.87175941883e-06,-5.16843512653e-05,1793244865186091776
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.793119733,786,806,651.206880267,631,652,0.4360462552,-0.0155734762543,0.0599534935161,0.999999991408,-0.000101099176472,-6.28490051442e-05,-5.48826448914e-05,1793244865202758400
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.369927228,745,714,681,660,634,881,786.369927228,806.369927228,651.369927228,631,652,0.436844304989,-0.0155711079452,0.0599321678009,0.999999987925,-0.000102223749162,-0.000102382349057,-5.67313393418e-05,1793244865219424768
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.94655026,745,714,681,660,634,881,786.94655026,806.94655026,651.94655026,631,652,0.437631420527,-0.0155678171373,0.0599159049202,0.999999984201,-0.00010313377661,-0.00013272770546,-5.78259488573e-05,1793244865236091136
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.469270588,745,714,681,660,634,881,787,807,652,631,652,0.438403458392,-0.0155643145549,0.0599088772018,0.999999981559,-0.000108008868264,-0.000146982546983,-6.01075496586e-05,1793244865252758016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.115284127,745,714,681,660.115284127,634,881,787,806.884715873,651.884715873,631,652,0.439195014145,-0.0155638244024,0.0599154882776,0.999999981916,-0.000114509460407,-0.000139034307988,-6.10276056158e-05,1793244865269424896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.698230769,745,714,681,660.698230769,634,881,787,806.301769231,651.301769231,631,652,0.440071995105,-0.0155756422652,0.059973599162,0.999999989366,-0.000125960783651,-4.76854477653e-05,-5.59324691919e-05,1793244865286091520
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723704721,745,714,681.276295279,660.447409443,634,881,787,806,651.276295279,631,652,0.440865610607,-0.0155845919431,0.0599992528161,0.999999989263,-0.00013593567132,-1.15240208146e-05,-5.35112098104e-05,1793244865302757888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.150879919,745,714,681.849120081,659.301759838,634,881,787,806,651.849120081,631,652,0.441569755398,-0.0155904633864,0.059990072259,0.999999987531,-0.000144325998023,-3.45916370624e-05,-5.39596472232e-05,1793244865319424768
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.577744289,659,633.577744289,880.577744289,786.577744289,806,651.577744289,631,652,0.442217803225,-0.0155946278504,0.0599415175591,0.999999981201,-0.000150723787117,-0.000107483915988,-5.76914769377e-05,1793244865336091392
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.004497465,659,633.004497465,880.004497465,786.004497465,806,651.004497465,631,652,0.442845791835,-0.0155981819294,0.0598788833672,0.999999966169,-0.000156409079913,-0.000198192606873,-6.25973888153e-05,1793244865352758272
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.588142816,659,633,880,786,806.588142816,651,631,652,0.443460155115,-0.0156033392719,0.0598451864729,0.999999952012,-0.000172514075084,-0.000248838782431,-6.55248318559e-05,1793244865369424896
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.176663218,745,714,681.823336782,659,633,880,786,807,651.176663218,631,652,0.444080134883,-0.0156101516643,0.0598224987944,0.999999940001,-0.000186733523733,-0.00028381830637,-6.76405442878e-05,1793244865386091264
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.755456767,745,714,681.244543233,659,633,880,786,807,651.755456767,631,652,0.444713144577,-0.015620702513,0.0598243500137,0.999999938103,-0.000196473441421,-0.000283857682547,-6.79441647477e-05,1793244865402758144
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.667073411,745,714,681.332926589,659,633,880.332926589,785.667073411,807,651.667073411,630.667073411,652,0.445285294709,-0.0156282145916,0.0598088436351,0.999999925575,-0.000208328914695,-0.000317215136208,-6.94471048266e-05,1793244865419424768
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.090572086,745,714,681.909427914,659,633,880.909427914,785.090572086,807,651.090572086,630.090572086,652,0.445812918915,-0.0156335034538,0.0597806381433,0.999999902545,-0.000221732163159,-0.000374948659405,-7.1827487266e-05,1793244865436091648
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,881,785,806.518266107,651,630,651.518266107,0.446329898984,-0.0156415752292,0.0597568217118,0.999999886768,-0.000237191163138,-0.000405781878175,-7.44717102817e-05,1793244865452758528
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.944266281,785,806.055733719,651.055733719,630,651.055733719,0.446844614265,-0.0156503497318,0.0597370856729,0.999999873921,-0.0002525178577,-0.000427179975172,-7.68812549182e-05,1793244865469425408
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.346173641,785,806.653826359,651.653826359,630,651.653826359,0.447356596708,-0.0156609149951,0.0597490960742,0.999999880295,-0.000262828328392,-0.000405554369518,-7.65285305018e-05,1793244865486092288
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.757869561,745,714,682,659,633,880.242130439,784.757869561,807,651.757869561,630.242130439,652,0.447851260125,-0.0156692550819,0.0597581185077,0.999999883369,-0.000274705624693,-0.000389768064734,-7.6683812863e-05,1793244865502758912
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.183016443,745,714,682,659,633,880.816983557,784.183016443,807,651.183016443,630.816983557,652,0.448322124621,-0.0156745374496,0.0597630350351,0.999999882346,-0.000288735968074,-0.000382005816352,-7.7537170986e-05,1793244865519425024
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.391619562,745,714,682,659,632.608380438,880.608380438,784,807,651,630.608380438,652,0.448714263107,-0.0156769347369,0.059740059083,0.999999863299,-0.000300320109414,-0.000420534484036,-7.97565652603e-05,1793244865536091392
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.706950822,745,714,682.706950822,658,631.853475411,881,784,807,651.146524589,629,652,0.44972686429,-0.0156853711973,0.0596462002687,0.999999809718,-0.000243685942737,-0.000563030275359,-6.46428694394e-05,1793244865586091264
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.575707895,745.424292105,714,682,657.575707895,631,881.575707895,782.424292105,807,651.424292105,628,652,0.452604201594,-0.0157163256638,0.0596448874338,0.999999791662,-0.000324807431405,-0.000552962391002,-7.35405061816e-05,1793244865852758016
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682.952169348,658.047830652,631,881,782,807,651.047830652,628.952169348,651.952169348,0.452792181412,-0.015715903988,0.0596353873272,0.99999978342,-0.000325449496798,-0.000567488623884,-7.21038679946e-05,1793244865986091008
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.037736129,745.962263871,714,682,658,631,880,782,807.962263871,651.037736129,628.037736129,652,0.45280602823,-0.0157097050065,0.0596312533001,0.999999780763,-0.000323737026981,-0.000573136721142,-7.19908763396e-05,1793244866186091264
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.616830693,745.383169307,714,682,658,631,880,782,807.383169307,651.616830693,628.616830693,652,0.452805651834,-0.0157102684038,0.0596305823298,0.999999780462,-0.00032333673918,-0.000573954827674,-7.1444507371e-05,1793244866202758400
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+244,4.066666667,HOLD_POSE2,765,745,714,682,657,631,881,782,807,651,628,652,0.452807689449,-0.0157090532803,0.0596315066224,0.999999781652,-0.000320616176247,-0.000573494520612,-7.07476342987e-05,1793244866299921664
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+247,4.116666667,HOLD_POSE2,765,745,714,681,657.267712761,630.732287239,880.267712761,782,807,652,628,651.732287239,0.452807444923,-0.0157080554928,0.0596294549149,0.999999780097,-0.000321677027647,-0.000575527930515,-7.13984928679e-05,1793244866349921792
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.130316542,714,682,657.130316542,631,880,781.130316542,807,651.869683458,628.869683458,652,0.452560069206,-0.0156927190263,0.059552165547,0.999999714309,-0.000312811187883,-0.00068388595625,-7.63632735931e-05,1793244866849378816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.703323258,714,682,657.703323258,631,880,781.703323258,807,651.296676742,628.296676742,652,0.452479726386,-0.0156870234941,0.0595413202918,0.999999704248,-0.000309035347236,-0.000700030914724,-7.71802857757e-05,1793244866866045440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.723188053,714,682,657.723188053,631,880,781.723188053,807,651.276811947,628.276811947,652,0.452394578581,-0.0156814243176,0.0595368379345,0.999999701392,-0.000305735798334,-0.000705514655148,-7.74009384574e-05,1793244866882712064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.149181934,714,682,657.149181934,631,880,781.149181934,807,651.850818066,628.850818066,652,0.452304271996,-0.0156759285921,0.0595391869887,0.999999706462,-0.00030294761179,-0.000699552169649,-7.69813204485e-05,1793244866899378688
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,880.437658435,781.437658435,807,652,629,652,0.452199021155,-0.0156717028226,0.0595425926964,0.999999710226,-0.000302798256539,-0.00069433933033,-7.58548723111e-05,1793244866916045312
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.97162278,745,714,682,657.02837722,630.97162278,881,782,807,651.97162278,628.97162278,652,0.452086613535,-0.0156676847877,0.0595460695352,0.999999713309,-0.000303253886562,-0.000689832826061,-7.44999507312e-05,1793244866932712192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.39308832,745,714,682,657.60691168,630.39308832,881,782,807,651.39308832,628.39308832,652,0.451937196916,-0.0156590482105,0.0595437316435,0.999999712292,-0.000297473191501,-0.000693916595265,-7.35276977607e-05,1793244866949379328
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.184249376,745,714,682,657.815750624,630.184249376,881,782,807,651.184249376,628.184249376,651.815750624,0.451775062403,-0.0156491319752,0.0595411230089,0.999999710896,-0.000290746203751,-0.000698838229448,-7.28005396264e-05,1793244866966045952
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.759050234,745,714,682,657.240949766,630.759050234,881,782,807,651.759050234,628.759050234,651.240949766,0.451585969922,-0.0156365032631,0.0595379404839,0.999999708709,-0.000282013369995,-0.000705535876775,-7.25929065848e-05,1793244866982712064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,881,782,807,651.658391376,629,651.341608624,0.451384657837,-0.015625648759,0.0595373123411,0.999999707793,-0.000276858566738,-0.00070896966382,-7.15850051576e-05,1793244866999378688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,881,782,807,651.070234095,629,651.929765905,0.451174526497,-0.0156160747501,0.0595385277684,0.99999970785,-0.000274286128953,-0.00071004783082,-6.99995272624e-05,1793244867016045312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,631,881,782,807,651.511517604,629,652,0.450925796089,-0.0156045291149,0.059537680326,0.999999707991,-0.000266639821663,-0.000712945545733,-6.80390338577e-05,1793244867032711936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.09144021,745,714,682,657,631,881,782,807,652,629,652,0.450666368131,-0.0155927129255,0.0595364107439,0.999999708145,-0.000258318713126,-0.000715960568127,-6.61985062455e-05,1793244867049378816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.666285556,745,714,682,657,631,881,782,807,652,629,652,0.450378058272,-0.0155808798798,0.0595343883551,0.999999708632,-0.000250067658139,-0.000718291318052,-6.52610329787e-05,1793244867066045696
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.758354158,745,714,682,657.241645842,631.241645842,881,782.241645842,807,651.758354158,629,652,0.450065354153,-0.0155701391833,0.0595311808245,0.999999706919,-0.000244028118506,-0.000722845626117,-6.40749906224e-05,1793244867082712320
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.18228125,745,714,682,657.81771875,631.81771875,881,782.81771875,807,651.18228125,629,652,0.449718889484,-0.0155609102503,0.0595263331108,0.999999702193,-0.000241049217963,-0.000730477239335,-6.25449397933e-05,1793244867099378944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.597103878,881,783,807,651,629,652,0.449358816917,-0.0155570107548,0.0595223007526,0.999999699475,-0.000242395559814,-0.000733880928804,-6.0934394604e-05,1793244867116045568
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.007712178,881,783,807,651,629,652,0.448992445435,-0.0155555781895,0.0595186458123,0.999999697694,-0.00024574400237,-0.000735327565031,-5.92865896249e-05,1793244867132712192
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.571660756,658,631,881,783,806.428339244,651,629.571660756,651.428339244,0.448588358353,-0.0155556243063,0.0595252219476,0.999999706128,-0.0002428381729,-0.000725036278835,-5.56351467944e-05,1793244867149378816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.849774029,658,631,881,783,806.150225971,651,629.849774029,651,0.448176579767,-0.0155532033078,0.0595347523252,0.999999720971,-0.000224587656876,-0.000710580860617,-5.18911372928e-05,1793244867166045440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.273124607,658,631,881,783,806.726875393,651,629.273124607,651,0.447744387973,-0.0155437236373,0.0595522834121,0.999999751124,-0.000163015907814,-0.00068474711284,-4.79597799288e-05,1793244867182712064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.301218343,880.698781657,783.301218343,807,651,629.301218343,651.301218343,0.447293112179,-0.0155335566038,0.0595798640871,0.999999783613,-0.000132712107648,-0.000642901824671,-4.28734154569e-05,1793244867199378944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.873485896,880.126514104,783.873485896,807,651,629.873485896,651.873485896,0.446824663732,-0.0155227710504,0.0596164878152,0.999999818726,-0.00013054454482,-0.000586648661779,-3.67477255326e-05,1793244867216046080
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.538420295,658,632,880.461579705,784,807,651.461579705,630,652,0.446310779069,-0.0155130373702,0.0596358829183,0.999999832547,-0.000123913871456,-0.000564360978134,-3.2358637768e-05,1793244867232712704
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,881,784,807,651.947120166,630,652,0.445776424271,-0.0155036807682,0.0596473978702,0.999999838706,-0.000114281165364,-0.000555613858818,-2.8644403944e-05,1793244867249379840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,881,784,807,651.368597942,630,652,0.445166777277,-0.0154951048203,0.0596291882087,0.999999824337,-8.73989286789e-05,-0.000585638489039,-2.67390082726e-05,1793244867266046464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.208811226,658,632,881,784.417622451,807,651,630,652,0.444558407229,-0.015486713455,0.0596185712631,0.999999818294,-6.39743234643e-05,-0.000598940785001,-2.42627689549e-05,1793244867282712832
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.784265984,658,632,881,785.568531969,807,651,630,652,0.44395227936,-0.0154786461914,0.0596212860738,0.999999828822,-4.662084105e-05,-0.000582880982052,-2.07842075822e-05,1793244867299379200
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.632469403,658.367530597,632.367530597,880.632469403,785.632469403,806.632469403,651,630,652,0.443348291514,-0.0154723573477,0.0596533724062,0.999999860773,-2.90376493811e-05,-0.00052669429801,-1.42734190011e-05,1793244867316045824
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.044521037,658.955478963,632.955478963,880.044521037,785.044521037,806.044521037,651,630,652,0.442745587119,-0.0154671350695,0.0597030736129,0.999999900263,-1.13166954935e-05,-0.0004464424653,-5.94412402515e-06,1793244867332712704
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.535470948,659,633,880.535470948,785.535470948,806.535470948,651,630,652,0.442066699505,-0.0154585886292,0.0597278849579,0.999999913991,2.05266791045e-05,-0.000414242175922,3.50966088461e-07,1793244867349379328
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.889637397,659.110362603,633,881,786,806.889637397,651,630,651.889637397,0.441368594382,-0.0154492887893,0.0597458364361,0.999999920982,5.09431235905e-05,-0.000394212756567,6.04775043471e-06,1793244867366046208
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.33274462,659.66725538,633,881,786,806.33274462,651,630,651.33274462,0.4406179878,-0.0154380425578,0.0597442830982,0.999999914409,7.09049106037e-05,-0.000407499072297,9.99806231362e-06,1793244867382712576
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.761379503,786,806.238620497,651,630,651,0.439874231459,-0.0154271093291,0.0597528688856,0.999999915474,9.66566963016e-05,-0.000399379989281,1.43545797429e-05,1793244867399378944
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.168530324,786,806.831469676,651,630,651,0.43914064409,-0.0154166407472,0.0597765060581,0.999999926618,0.000131003654273,-0.000359484902471,1.93141040152e-05,1793244867416045568
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.575385772,713.575385772,681,659.575385772,633.424614228,880.424614228,786,807,651,630,651.424614228,0.438376228938,-0.0154098441934,0.059808377922,0.99999994076,0.000151700454969,-0.000307878047451,2.60210306995e-05,1793244867432712192
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.017354875,713.017354875,681,659,633.982645125,880.982645125,785.982645125,806.982645125,651,630,652,0.437595957764,-0.0154043716666,0.0598409347498,0.999999952687,0.000167296307319,-0.000256003594087,3.31736527245e-05,1793244867449378816
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744.593319916,713.593319916,681,659,633.406680084,880.406680084,785.406680084,806.406680084,651,630,652,0.436699427358,-0.0153945723659,0.059790265105,0.999999921216,0.000193211533108,-0.000345241147692,3.23329962897e-05,1793244867466045440
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785,806,651,630.169550056,652,0.435819098429,-0.0153878196337,0.0597499833482,0.9999998933,0.00021367921887,-0.00040831293197,3.19608631175e-05,1793244867482712064
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880,785,806,651,630.746417016,652,0.434977691009,-0.0153883857958,0.0597346568346,0.999999891585,0.000221060062411,-0.000408525639001,3.27142828086e-05,1793244867499378944
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.670044869,714,681,659,633.329955131,880,785.329955131,806,651.329955131,631,652,0.434125892853,-0.0153922232876,0.0597418491445,0.999999910046,0.000175835864005,-0.000385444345377,2.0570532527e-05,1793244867516045312
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.081273948,714,681,659,633.918726052,880,785.918726052,806,651.918726052,631,652,0.433265944276,-0.0153986268003,0.059766705151,0.999999936808,8.93484306114e-05,-0.000344091306276,-1.68971845704e-06,1793244867532712192
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.082682285,744,714,680,659.082682285,633.082682285,879.082682285,786,806,651,630.082682285,652,0.431497409178,-0.0154001786625,0.0597976021785,0.99999994491,0.00012431545704,-0.000307602467276,1.03574328795e-05,1793244867566045952
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.6580979,744,714,680,659.6580979,633.6580979,879.6580979,786,806,651,630.6580979,652,0.43063469161,-0.0153971775042,0.0598203723722,0.999999954997,0.000142047542929,-0.000263814082228,1.5193239555e-05,1793244867582712832
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.766520287,744,714,680,659.766520287,633.766520287,880,786,806,651,630.766520287,651.766520287,0.429739034677,-0.0153933764523,0.0598277765512,0.999999955477,0.000153180174732,-0.000255445061579,1.81364562585e-05,1793244867599379456
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.19118788,744,714,680,659.19118788,633.19118788,880,786,806,651,630.19118788,651.19118788,0.428795148968,-0.0153884042241,0.059812682361,0.999999943193,0.000154650123299,-0.000298935808854,1.83086107471e-05,1793244867616046080
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744,713.607045135,680,659,633.392954865,880,786,806,651.392954865,630,651.392954865,0.42784646526,-0.0153840104647,0.0597771598814,0.999999924587,0.000159947039496,-0.000353595631638,1.45639516227e-05,1793244867632712960
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744,713.018517539,680,659,633.981482461,880,786,806,651.981482461,630,651.981482461,0.426895393655,-0.0153799046082,0.05973147029,0.99999990037,0.000167148628171,-0.000413814274047,8.86990335073e-06,1793244867649380096
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.707140435,714,680,658.292859565,634,879,785,805.707140435,651,630,652,0.423364492892,-0.0153858244397,0.0598332192513,0.999999944845,0.000181942807387,-0.0002769044005,2.30452136216e-05,1793244867716045824
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.116780117,714,680,658.883219883,634,879,785,805.116780117,651,630,652,0.422506330146,-0.0153844725831,0.0598425288526,0.999999951298,0.000182594850178,-0.000252014732875,2.34805727391e-05,1793244867732712192
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744,713,680.621518243,658.378481757,634,879,785.621518243,805.621518243,651.621518243,630,652,0.419709007169,-0.0153692262525,0.0597530113604,0.999999896023,0.00019859483905,-0.000410200708772,1.58132976588e-05,1793244867782712064
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.1981704,713.1981704,680.8018296,658,634,879,786,806,651.8018296,630,652,0.418811341155,-0.015368018035,0.0597154394859,0.999999870981,0.000196139858535,-0.000468418281025,1.2326493732e-05,1793244867799378688
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.773572665,713.773572665,680.226427335,658,634,879,786,806,651.226427335,630,652,0.417999704906,-0.015373555086,0.0597300330132,0.999999894328,0.000186740927088,-0.000419882580881,1.30714815084e-05,1793244867816045568
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.357397445,744.642602555,714,680,658.357397445,634,879,786,805.642602555,651,630.357397445,652,0.417212577116,-0.0153742117729,0.0597631302949,0.999999914886,0.000187431486575,-0.000367190683326,1.63848521641e-05,1793244867832712192
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.946687017,744.053312983,714,680,658.946687017,634,879,786,805.053312983,651,630.946687017,652,0.416441351331,-0.0153717019062,0.0598082334671,0.999999932214,0.000194668465589,-0.000311802100038,2.13646805699e-05,1793244867849379072
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.47309121,744,714,680,659,634,879.52690879,785.47309121,805.52690879,651.52690879,631,652,0.415640717092,-0.0153691359066,0.0598287935791,0.999999936488,0.000202053050517,-0.000292644876512,2.36270576656e-05,1793244867866045440
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.894292172,634,879.894292172,785.105707828,805.894292172,652,630.894292172,651.894292172,0.41484614002,-0.0153677579903,0.0598435101192,0.999999939474,0.000206623699929,-0.00027878954759,2.5192756591e-05,1793244867882712064
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.317812423,634,879.317812423,785.682187577,805.317812423,652,630.317812423,651.317812423,0.414091566243,-0.0153716960919,0.0598430744403,0.999999942843,0.000198597043699,-0.000272496306918,2.48595797533e-05,1793244867899378688
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.583770391,745,714,680.583770391,658,634,879.416229609,786,805.583770391,652,630,652,0.411814873756,-0.0153625850393,0.0597746123055,0.999999900391,0.000217725054479,-0.000389133799784,1.97110267668e-05,1793244867949378816
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.990704141,713.990704141,680,658,634,879.990704141,786,805.009295859,652,630.009295859,652,0.411080469744,-0.015355857251,0.059731161056,0.999999870247,0.000224878068488,-0.000456818743849,1.58659742154e-05,1793244867966045696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.414396904,713.414396904,680,658,634,879.414396904,786,805.585603096,652,630.585603096,652,0.410443258737,-0.0153594591984,0.0597537249389,0.999999891811,0.000217485947106,-0.000410848245243,1.6792481899e-05,1793244867982713088
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.738465431,713.738465431,680,658,634,878.261534569,786,806,652,631,652,0.409244613463,-0.0153696107723,0.0598250281006,0.999999933317,0.00020868585305,-0.000298777894262,2.3405725848e-05,1793244868016046080
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.309654118,786,806,652,630.690345882,652,0.408670188149,-0.0153711301901,0.0598476223062,0.999999941874,0.000210435409901,-0.000266996570473,2.61008961055e-05,1793244868032712704
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.876431851,786,806,652,630.123568149,652,0.408098776066,-0.0153690095643,0.0598532737878,0.999999942513,0.000215896672935,-0.000260045962166,2.71789248743e-05,1793244868049379584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.466634006,744.533365994,714,680,658,634,878.533365994,786,806.466634006,652,630,652,0.407544690689,-0.0153665137949,0.0598402502397,0.999999937545,0.000219449290596,-0.000275838268588,2.57881131563e-05,1793244868066045952
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.93827938,744,714,680,658,634,878.06172062,786,806.876558761,652,630,652,0.406999497292,-0.0153645177488,0.0598233359314,0.999999931265,0.00022185730342,-0.00029611233028,2.38052508336e-05,1793244868082712320
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.357050138,744,714,680,658,634,878.642949862,786,805.714100276,652,630,652,0.406488487746,-0.0153676082786,0.0598174976307,0.999999930517,0.00021911010585,-0.00030073869475,2.26326981184e-05,1793244868099379712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.443155645,652,630,652,0.406007047031,-0.0153700092633,0.0598180687549,0.999999933281,0.00021229381247,-0.000296455422914,2.1997917337e-05,1793244868116046848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,806.59212533,652,630,652,0.405572700646,-0.015371312009,0.0598288481715,0.999999941316,0.000198996669991,-0.000277981771927,2.22196460719e-05,1793244868132713472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,806.235784232,652,630.382107884,652,0.405150231117,-0.0153695571645,0.059826444908,0.999999940116,0.000201353948513,-0.000280582425032,2.22977455601e-05,1793244868149379840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786,805.05096877,652,630.974515615,652,0.404734298185,-0.0153661195212,0.0598167863238,0.999999933762,0.000212326913863,-0.000294781693206,2.22967961655e-05,1793244868166045952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.552154538,744,714,680,658,634,879,786,805,652,630.447845462,652,0.404333403191,-0.0153640451673,0.0597941925334,0.999999917713,0.000231177218822,-0.000332699618678,2.10370714816e-05,1793244868182712320
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.295413692,744,714,680,658,634,879,786,805.704586308,652,630,652,0.403603202677,-0.0153617464202,0.0597618382137,0.999999897871,0.000235169000993,-0.000385461987914,1.93213865374e-05,1793244868216045824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.286584521,744.286584521,714,680,658,634,879,786,806,652,630,652.286584521,0.40330806153,-0.0153617467032,0.0597663325794,0.99999990226,0.000234132242549,-0.000374504243411,2.02197201037e-05,1793244868232712448
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,713.03595033,679.96404967,658,634.03595033,879,786,805.03595033,652,630.03595033,652,0.402608891106,-0.0153646657055,0.0598218929207,0.999999931833,0.000239364800399,-0.000279998986829,2.52836712245e-05,1793244868282712576
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744,713.611590863,679.388409137,658,634.611590863,879,786,805.611590863,652,630.611590863,652,0.402407003428,-0.0153650767322,0.0598321820153,0.999999944549,0.000200333152683,-0.000265502802695,1.66208313707e-05,1793244868299378944
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.813093871,879,786,805.813093871,651.813093871,631,652,0.402208627125,-0.0153654436439,0.0598370249062,0.99999995095,0.000174721689271,-0.000259706869363,1.11232164831e-05,1793244868316045312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.238453443,879,786,805.238453443,651.238453443,631,652,0.402017535148,-0.0153657190398,0.0598305697182,0.999999947289,0.000176950226789,-0.000271959494265,1.21918201992e-05,1793244868332711936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.346451854,714,679.346451854,658,634,878.653548146,786,805.346451854,651.346451854,630.653548146,652,0.401847859208,-0.0153648776795,0.0598244795866,0.999999942342,0.00018351830275,-0.000285436510104,1.27433567545e-05,1793244868349378560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.938637961,714,679.938637961,658,634,878.061362039,786,805.938637961,651.938637961,630.061362039,652,0.401693373392,-0.015363244217,0.0598186483846,0.999999936326,0.000193164362829,-0.000299781973341,1.2928143721e-05,1793244868366045440
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.48238503,714,679.48238503,658,634,878,786.51761497,806,652,630,652,0.401572886483,-0.0153700197537,0.0598193378636,0.999999932848,0.000209979501754,-0.000300028995412,1.39957940029e-05,1793244868382712064
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.094930562,658,634,878,786.905069438,806,652,630,652,0.401461100449,-0.0153768919896,0.059821164869,0.99999993037,0.000223727818749,-0.000298290571405,1.51021775784e-05,1793244868399378688
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.252699984,744,714,680,658,634,878.252699984,786,806,652,630.252699984,652,0.401295701062,-0.0153794444479,0.0598280738915,0.999999934788,0.000214913239768,-0.000289767000973,1.64693563825e-05,1793244868432712192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.839794075,744,714,680,658,634,878.839794075,786,806,652,630.839794075,652,0.401230791827,-0.0153765118383,0.0598303624197,0.999999936436,0.00021638220382,-0.000282885333821,1.6782915525e-05,1793244868449378816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.578683096,744,714,680.421316904,658,634,879,786,805.578683096,652,630.578683096,652,0.401176660241,-0.0153753381,0.0598330660191,0.999999937766,0.000215941270088,-0.000278462070284,1.72309622917e-05,1793244868466045184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,680.999255289,658,634,879,786,805.000744711,652,630.000744711,652,0.401126589177,-0.0153748260589,0.0598359200149,0.999999938973,0.000214782528726,-0.000274967970951,1.77290716016e-05,1793244868482711808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,680.423058684,658,634,879,786,805.576941316,652,630.576941316,652,0.401088727214,-0.0153755615,0.0598346209263,0.999999938957,0.000212815293246,-0.000276539209539,1.791113007e-05,1793244868499378688
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.152344677,714,679.847655323,658,634.152344677,878.847655323,786,806,652,630.847655323,652,0.401053858045,-0.0153756714141,0.0598332233882,0.999999938515,0.000212107033577,-0.00027866932044,1.79970315984e-05,1793244868516045312
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.878655306,658,634.121344694,878.878655306,786,806,652,630,652,0.400995376108,-0.015374160473,0.0598311329343,0.999999937084,0.000213741666705,-0.000282553367405,1.76167004119e-05,1793244868566045696
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634.060520854,879,786,806,652,630.060520854,652,0.40097968799,-0.0153753844242,0.0598328644022,0.999999937094,0.000215394321186,-0.000281244564711,1.78493706569e-05,1793244868599378688
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.791049333,658,634.791049333,879.208950667,786,805.791049333,652,631,652,0.400974431099,-0.0153750379985,0.0598331736293,0.999999938357,0.000212842910669,-0.000278711249512,1.74285367542e-05,1793244868632711936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.214110165,658,634.214110165,879.785889835,786,805.214110165,652,631,652,0.400974078921,-0.0153745871801,0.0598342625025,0.999999938624,0.00021383871482,-0.000276977447062,1.75620963001e-05,1793244868649378304
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.112362572,714,680,658,634,879,786,805.112362572,652,630,652,0.400971566273,-0.0153749770527,0.0598349641613,0.999999939109,0.000213259835769,-0.000275689713279,1.72659563095e-05,1793244868716045568
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.26481609,744.73518391,714,680,658,634,879,786,805.73518391,652,630,652,0.400972853922,-0.0153759853461,0.0598359525248,0.999999939941,0.000213235581478,-0.000272668444909,1.73531347816e-05,1793244868749378560
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